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twanghcmut/ego-real2sim / basic_pick_place_multi /scene.json
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{
"geometry_source": "flat_table",
"camera_source": "egodex",
"hand_source": "hawor",
"task": "basic_pick_place",
"index": 0,
"frames": 126,
"fps": 30.0,
"table_height_m": 0.7370637283325195,
"object_height_prior_m": 0.045,
"table_source": "egodex_hand_contact_prior",
"contact_interval": [
42,
51
],
"contact_hand": "right",
"image_size": [
518,
294
],
"intrinsics": [
[
198.73768615722656,
0.0,
259.0
],
[
0.0,
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147.0
],
[
0.0,
0.0,
1.0
]
],
"objects": [
{
"id": "stapler",
"text": "stapler",
"frame": 10,
"box": [
321,
194,
424,
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],
"height_prior_m": 0.045,
"mass_kg": 0.1,
"collider": "convex",
"manipulated": true
},
{
"id": "phone",
"text": "smartphone",
"frame": 63,
"box": [
280,
171,
371,
274
],
"height_prior_m": 0.012,
"mass_kg": 0.18,
"collider": "convex"
},
{
"id": "popit",
"text": "pop it fidget toy",
"frame": 111,
"box": [
380,
208,
518,
294
],
"height_prior_m": 0.018,
"mass_kg": 0.08,
"collider": "convex"
},
{
"id": "pliers",
"text": "pliers",
"frame": 10,
"box": [
334,
169,
401,
207
],
"height_prior_m": 0.024,
"mass_kg": 0.12,
"collider": "convex"
},
{
"id": "tray",
"text": "cardboard tray",
"frame": 10,
"box": [
180,
143,
330,
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],
"height_prior_m": 0.035,
"mass_kg": 0.06,
"collider": "container",
"contains": [
"cube",
"hammer"
],
"base_thickness_m": 0.004
},
{
"id": "cube",
"text": "Rubik's cube",
"frame": 10,
"box": [
250,
142,
290,
180
],
"height_prior_m": 0.045,
"mass_kg": 0.045,
"collider": "convex",
"parent": "tray"
},
{
"id": "hammer",
"text": "hammer",
"frame": 10,
"box": [
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169,
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],
"height_prior_m": 0.025,
"mass_kg": 0.06,
"collider": "convex",
"parent": "tray"
}
],
"object_count": 7,
"actor_names": [
"left",
"right",
"stapler",
"phone",
"popit",
"pliers",
"tray",
"cube",
"hammer"
],
"inventory_source": "visible_tabletop_objects_across_video",
"initial_pose_corrections": {
"stapler": [
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0.0,
0.0,
0.0,
0.0,
0.0
],
"phone": [
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],
"popit": [
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0.0,
0.0
],
"pliers": [
0.0,
0.0,
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0.0,
0.0,
0.0
],
"tray": [
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0.0,
0.0,
0.0
],
"cube": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"hammer": [
0.01935287017168372,
0.004923098896658739,
0.0002414918199510677,
0.0,
0.0,
0.0
]
}
}

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