| { | |
| "scene": { | |
| "scene_id": "tw_icu_02_s1", | |
| "seed": 20260821, | |
| "room_name": "icu", | |
| "notes": "TwinWorld Phase-2 dynamic state from tw_icu_02. Simulated only.", | |
| "entities": [ | |
| { | |
| "entity_id": "zone_main", | |
| "entity_type": "zone", | |
| "pose_xyz": [ | |
| 0.0, | |
| 0.0, | |
| 1.5 | |
| ], | |
| "size_xyz": [ | |
| 6.0, | |
| 5.0, | |
| 3.0 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/zone", | |
| "movable": false, | |
| "mass_kg": 1.0, | |
| "metadata": {} | |
| }, | |
| { | |
| "entity_id": "floor", | |
| "entity_type": "floor", | |
| "pose_xyz": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "size_xyz": [ | |
| 6.0, | |
| 5.0, | |
| 0.05 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/floor", | |
| "movable": false, | |
| "mass_kg": 1.0, | |
| "metadata": {} | |
| }, | |
| { | |
| "entity_id": "wall_n", | |
| "entity_type": "wall", | |
| "pose_xyz": [ | |
| 0.0, | |
| 2.5, | |
| 1.5 | |
| ], | |
| "size_xyz": [ | |
| 6.0, | |
| 0.1, | |
| 3.0 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/wall", | |
| "movable": false, | |
| "mass_kg": 1.0, | |
| "metadata": {} | |
| }, | |
| { | |
| "entity_id": "wall_s", | |
| "entity_type": "wall", | |
| "pose_xyz": [ | |
| 0.0, | |
| -2.5, | |
| 1.5 | |
| ], | |
| "size_xyz": [ | |
| 6.0, | |
| 0.1, | |
| 3.0 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/wall", | |
| "movable": false, | |
| "mass_kg": 1.0, | |
| "metadata": {} | |
| }, | |
| { | |
| "entity_id": "wall_w", | |
| "entity_type": "wall", | |
| "pose_xyz": [ | |
| -3.0, | |
| 0.0, | |
| 1.5 | |
| ], | |
| "size_xyz": [ | |
| 0.1, | |
| 5.0, | |
| 3.0 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/wall", | |
| "movable": false, | |
| "mass_kg": 1.0, | |
| "metadata": {} | |
| }, | |
| { | |
| "entity_id": "wall_e", | |
| "entity_type": "wall", | |
| "pose_xyz": [ | |
| 3.0, | |
| 0.0, | |
| 1.5 | |
| ], | |
| "size_xyz": [ | |
| 0.1, | |
| 5.0, | |
| 3.0 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/wall", | |
| "movable": false, | |
| "mass_kg": 1.0, | |
| "metadata": {} | |
| }, | |
| { | |
| "entity_id": "ceiling", | |
| "entity_type": "ceiling", | |
| "pose_xyz": [ | |
| 0.0, | |
| 0.0, | |
| 3.0 | |
| ], | |
| "size_xyz": [ | |
| 6.0, | |
| 5.0, | |
| 0.05 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/ceiling", | |
| "movable": false, | |
| "mass_kg": 1.0, | |
| "metadata": {} | |
| }, | |
| { | |
| "entity_id": "bed", | |
| "entity_type": "therapy_bed", | |
| "pose_xyz": [ | |
| 0.2, | |
| -0.08000000000000002, | |
| 0.45 | |
| ], | |
| "size_xyz": [ | |
| 2.0, | |
| 0.9, | |
| 0.5 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/therapy_bed", | |
| "movable": true, | |
| "mass_kg": 80.0, | |
| "metadata": { | |
| "display_label": "hospital_bed" | |
| } | |
| }, | |
| { | |
| "entity_id": "cabinet", | |
| "entity_type": "cabinet", | |
| "pose_xyz": [ | |
| -2.4, | |
| 1.4, | |
| 0.6 | |
| ], | |
| "size_xyz": [ | |
| 0.8, | |
| 0.5, | |
| 1.2 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/cabinet", | |
| "movable": false, | |
| "mass_kg": 60.0, | |
| "metadata": { | |
| "display_label": "cabinet" | |
| } | |
| }, | |
| { | |
| "entity_id": "bench", | |
| "entity_type": "therapy_bench", | |
| "pose_xyz": [ | |
| 0.9, | |
| -1.98, | |
| 0.25 | |
| ], | |
| "size_xyz": [ | |
| 1.2, | |
| 0.4, | |
| 0.45 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/therapy_bench", | |
| "movable": true, | |
| "mass_kg": 30.0, | |
| "metadata": { | |
| "display_label": "bedside_table" | |
| } | |
| }, | |
| { | |
| "entity_id": "iv_pole", | |
| "entity_type": "iv_pole", | |
| "pose_xyz": [ | |
| -0.8, | |
| 0.72, | |
| 0.9 | |
| ], | |
| "size_xyz": [ | |
| 0.3, | |
| 0.3, | |
| 1.8 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/iv_pole", | |
| "movable": true, | |
| "mass_kg": 12.0, | |
| "metadata": { | |
| "display_label": "iv_pole" | |
| } | |
| }, | |
| { | |
| "entity_id": "wheelchair", | |
| "entity_type": "wheelchair", | |
| "pose_xyz": [ | |
| -2.0, | |
| -1.3800000000000001, | |
| 0.45 | |
| ], | |
| "size_xyz": [ | |
| 0.7, | |
| 0.7, | |
| 0.9 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/wheelchair", | |
| "movable": true, | |
| "mass_kg": 20.0, | |
| "metadata": {} | |
| }, | |
| { | |
| "entity_id": "rail", | |
| "entity_type": "wall_rail", | |
| "pose_xyz": [ | |
| -0.3097414882132298, | |
| 2.42, | |
| 0.95 | |
| ], | |
| "size_xyz": [ | |
| 2.0, | |
| 0.08, | |
| 0.1 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/wall_rail", | |
| "movable": false, | |
| "mass_kg": 5.0, | |
| "metadata": { | |
| "support_kind": "wall_mount", | |
| "anchor_host": "wall_n", | |
| "hard_case": "hidden_wall_support" | |
| } | |
| }, | |
| { | |
| "entity_id": "lift", | |
| "entity_type": "patient_lift", | |
| "pose_xyz": [ | |
| 2.1, | |
| -1.68, | |
| 2.35 | |
| ], | |
| "size_xyz": [ | |
| 1.0, | |
| 0.3, | |
| 0.4 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/patient_lift", | |
| "movable": false, | |
| "mass_kg": 40.0, | |
| "metadata": { | |
| "support_kind": "ceiling_hang", | |
| "anchor_host": "ceiling", | |
| "hard_case": "hidden_ceiling_support" | |
| } | |
| }, | |
| { | |
| "entity_id": "monitor", | |
| "entity_type": "monitor_cart", | |
| "pose_xyz": [ | |
| 0.2, | |
| -0.08000000000000002, | |
| 1.15 | |
| ], | |
| "size_xyz": [ | |
| 0.45, | |
| 0.45, | |
| 0.9 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/monitor_cart", | |
| "movable": true, | |
| "mass_kg": 25.0, | |
| "metadata": { | |
| "hard_case": "contact_without_support", | |
| "apparent_host": "bed", | |
| "true_host": "floor", | |
| "display_label": "patient_monitor" | |
| } | |
| }, | |
| { | |
| "entity_id": "walker", | |
| "entity_type": "walker", | |
| "pose_xyz": [ | |
| 1.25, | |
| -0.23, | |
| 0.45 | |
| ], | |
| "size_xyz": [ | |
| 0.6, | |
| 0.5, | |
| 0.9 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/walker", | |
| "movable": true, | |
| "mass_kg": 8.0, | |
| "metadata": { | |
| "hard_case": "proximity_without_support", | |
| "apparent_host": "bed", | |
| "true_host": "floor" | |
| } | |
| }, | |
| { | |
| "entity_id": "cart", | |
| "entity_type": "equipment_cart", | |
| "pose_xyz": [ | |
| -2.75, | |
| -0.18000000000000002, | |
| 0.5 | |
| ], | |
| "size_xyz": [ | |
| 0.55, | |
| 0.4, | |
| 0.9 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/equipment_cart", | |
| "movable": true, | |
| "mass_kg": 18.0, | |
| "metadata": { | |
| "support_kind": "multi_support", | |
| "anchors": [ | |
| "floor", | |
| "wall_w" | |
| ], | |
| "hard_case": "multi_support", | |
| "display_label": "ventilator" | |
| } | |
| }, | |
| { | |
| "entity_id": "tray", | |
| "entity_type": "equipment_cart", | |
| "pose_xyz": [ | |
| -0.09999999999999998, | |
| 0.47000000000000003, | |
| 0.82 | |
| ], | |
| "size_xyz": [ | |
| 0.35, | |
| 0.3, | |
| 0.12 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/equipment_cart", | |
| "movable": true, | |
| "mass_kg": 4.0, | |
| "metadata": { | |
| "hard_case": "nested_or_clutter", | |
| "near": "bed", | |
| "display_label": "medical_containers" | |
| } | |
| }, | |
| { | |
| "entity_id": "container_dyn", | |
| "entity_type": "equipment_cart", | |
| "pose_xyz": [ | |
| 1.6, | |
| 1.2, | |
| 0.35 | |
| ], | |
| "size_xyz": [ | |
| 0.35, | |
| 0.3, | |
| 0.3 | |
| ], | |
| "parent_zone": "zone_main", | |
| "timestamp": 0.0, | |
| "geometry_ref": "proxy://aabb/equipment_cart", | |
| "movable": true, | |
| "mass_kg": 4.0, | |
| "metadata": { | |
| "display_label": "medical_containers", | |
| "dynamic_op": "add_object" | |
| } | |
| } | |
| ] | |
| }, | |
| "version": 0, | |
| "edges": [ | |
| { | |
| "subject_id": "bed", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "bed", | |
| "host_id": "iv_pole", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "bed", | |
| "host_id": "monitor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "bed", | |
| "host_id": "walker", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "bed", | |
| "host_id": "tray", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "cabinet", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "cabinet", | |
| "host_id": "wall_w", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "bench", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "iv_pole", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "iv_pole", | |
| "host_id": "bed", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "iv_pole", | |
| "host_id": "tray", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "wheelchair", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "rail", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "rail", | |
| "host_id": "wall_n", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "rail", | |
| "host_id": "wall_s", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "rail", | |
| "host_id": "wall_w", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "rail", | |
| "host_id": "wall_e", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "lift", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "lift", | |
| "host_id": "wall_e", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "lift", | |
| "host_id": "ceiling", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "monitor", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "monitor", | |
| "host_id": "bed", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "monitor", | |
| "host_id": "tray", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "walker", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "walker", | |
| "host_id": "bed", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "cart", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "cart", | |
| "host_id": "wall_w", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "tray", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "tray", | |
| "host_id": "bed", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "tray", | |
| "host_id": "iv_pole", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "tray", | |
| "host_id": "monitor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": false, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| }, | |
| { | |
| "subject_id": "container_dyn", | |
| "host_id": "floor", | |
| "relation": "SUPPORTED_BY", | |
| "present": false, | |
| "score": 0.0, | |
| "confidence": 0.0, | |
| "is_candidate": true, | |
| "is_gt": true, | |
| "evidence_source": "", | |
| "timestamp": 0.0, | |
| "version": 0 | |
| } | |
| ], | |
| "provenance": [] | |
| } |