zjumty commited on
Commit
bea6b34
·
verified ·
1 Parent(s): 30eb0b3

Upload synthetic YOLO-Seg training dataset (part 8)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. dataset/truth/test/000300148.json +8 -0
  2. dataset/truth/test/000300149.json +136 -0
  3. dataset/truth/test/000300150.json +223 -0
  4. dataset/truth/test/000300151.json +100 -0
  5. dataset/truth/test/000300152.json +8 -0
  6. dataset/truth/test/000300153.json +132 -0
  7. dataset/truth/test/000300154.json +239 -0
  8. dataset/truth/test/000300155.json +88 -0
  9. dataset/truth/test/000300156.json +8 -0
  10. dataset/truth/test/000300157.json +116 -0
  11. dataset/truth/test/000300158.json +243 -0
  12. dataset/truth/test/000300159.json +104 -0
  13. dataset/truth/test/000300160.json +8 -0
  14. dataset/truth/test/000300161.json +136 -0
  15. dataset/truth/test/000300162.json +203 -0
  16. dataset/truth/test/000300163.json +96 -0
  17. dataset/truth/test/000300164.json +8 -0
  18. dataset/truth/test/000300165.json +124 -0
  19. dataset/truth/test/000300166.json +247 -0
  20. dataset/truth/test/000300167.json +100 -0
  21. dataset/truth/test/000300168.json +8 -0
  22. dataset/truth/test/000300169.json +136 -0
  23. dataset/truth/test/000300170.json +227 -0
  24. dataset/truth/test/000300171.json +104 -0
  25. dataset/truth/test/000300172.json +8 -0
  26. dataset/truth/test/000300173.json +124 -0
  27. dataset/truth/test/000300174.json +255 -0
  28. dataset/truth/test/000300175.json +100 -0
  29. dataset/truth/test/000300176.json +8 -0
  30. dataset/truth/test/000300177.json +152 -0
  31. dataset/truth/test/000300178.json +259 -0
  32. dataset/truth/test/000300179.json +108 -0
  33. dataset/truth/test/000300180.json +8 -0
  34. dataset/truth/test/000300181.json +132 -0
  35. dataset/truth/test/000300182.json +227 -0
  36. dataset/truth/test/000300183.json +96 -0
  37. dataset/truth/test/000300184.json +8 -0
  38. dataset/truth/test/000300185.json +132 -0
  39. dataset/truth/test/000300186.json +271 -0
  40. dataset/truth/test/000300187.json +100 -0
  41. dataset/truth/test/000300188.json +8 -0
  42. dataset/truth/test/000300189.json +132 -0
  43. dataset/truth/test/000300190.json +239 -0
  44. dataset/truth/test/000300191.json +116 -0
  45. dataset/truth/test/000300192.json +8 -0
  46. dataset/truth/test/000300193.json +132 -0
  47. dataset/truth/test/000300194.json +263 -0
  48. dataset/truth/test/000300195.json +120 -0
  49. dataset/truth/test/000300196.json +8 -0
  50. dataset/truth/test/000300197.json +132 -0
dataset/truth/test/000300148.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300148,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300149.json ADDED
@@ -0,0 +1,136 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.215962441314554,
10
+ 0.42379958246346555
11
+ ],
12
+ [
13
+ 0.21752738654147105,
14
+ 0.42171189979123175
15
+ ],
16
+ [
17
+ 0.22535211267605634,
18
+ 0.4133611691022965
19
+ ],
20
+ [
21
+ 0.23161189358372458,
22
+ 0.4091858037578288
23
+ ],
24
+ [
25
+ 0.25039123630672927,
26
+ 0.40083507306889354
27
+ ],
28
+ [
29
+ 0.26291079812206575,
30
+ 0.3987473903966597
31
+ ],
32
+ [
33
+ 0.28482003129890454,
34
+ 0.3987473903966597
35
+ ],
36
+ [
37
+ 0.29577464788732394,
38
+ 0.40083507306889354
39
+ ],
40
+ [
41
+ 0.3082942097026604,
42
+ 0.4091858037578288
43
+ ],
44
+ [
45
+ 0.30985915492957744,
46
+ 0.4112734864300626
47
+ ],
48
+ [
49
+ 0.3114241001564945,
50
+ 0.4154488517745303
51
+ ],
52
+ [
53
+ 0.3129890453834116,
54
+ 0.42588726513569936
55
+ ],
56
+ [
57
+ 0.3145539906103286,
58
+ 0.44258872651356995
59
+ ],
60
+ [
61
+ 0.3223787167449139,
62
+ 0.534446764091858
63
+ ],
64
+ [
65
+ 0.3223787167449139,
66
+ 0.5427974947807933
67
+ ],
68
+ [
69
+ 0.3192488262910798,
70
+ 0.5511482254697286
71
+ ],
72
+ [
73
+ 0.3114241001564945,
74
+ 0.5615866388308977
75
+ ],
76
+ [
77
+ 0.30359937402190923,
78
+ 0.5678496868475992
79
+ ],
80
+ [
81
+ 0.29577464788732394,
82
+ 0.5720250521920668
83
+ ],
84
+ [
85
+ 0.28325508607198746,
86
+ 0.5762004175365344
87
+ ],
88
+ [
89
+ 0.27230046948356806,
90
+ 0.5782881002087683
91
+ ],
92
+ [
93
+ 0.26134585289514867,
94
+ 0.5782881002087683
95
+ ],
96
+ [
97
+ 0.2519561815336463,
98
+ 0.5762004175365344
99
+ ],
100
+ [
101
+ 0.24569640062597808,
102
+ 0.5741127348643006
103
+ ],
104
+ [
105
+ 0.23943661971830985,
106
+ 0.569937369519833
107
+ ],
108
+ [
109
+ 0.23161189358372458,
110
+ 0.5594989561586639
111
+ ],
112
+ [
113
+ 0.2300469483568075,
114
+ 0.5553235908141962
115
+ ],
116
+ [
117
+ 0.2269170579029734,
118
+ 0.5323590814196242
119
+ ],
120
+ [
121
+ 0.2222222222222222,
122
+ 0.4968684759916493
123
+ ],
124
+ [
125
+ 0.215962441314554,
126
+ 0.4488517745302714
127
+ ]
128
+ ],
129
+ "visible_pixel_count": 4942
130
+ }
131
+ ],
132
+ "scenario": "one_cup_distractors",
133
+ "seed": 300149,
134
+ "split": "test",
135
+ "visible_instance_count": 1
136
+ }
dataset/truth/test/000300150.json ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.3208137715179969,
10
+ 0.4091858037578288
11
+ ],
12
+ [
13
+ 0.3223787167449139,
14
+ 0.407098121085595
15
+ ],
16
+ [
17
+ 0.3317683881064163,
18
+ 0.3966597077244259
19
+ ],
20
+ [
21
+ 0.3395931142410016,
22
+ 0.3924843423799583
23
+ ],
24
+ [
25
+ 0.3489827856025039,
26
+ 0.3883089770354906
27
+ ],
28
+ [
29
+ 0.3599374021909233,
30
+ 0.3862212943632568
31
+ ],
32
+ [
33
+ 0.3865414710485133,
34
+ 0.3862212943632568
35
+ ],
36
+ [
37
+ 0.38810641627543035,
38
+ 0.3883089770354906
39
+ ],
40
+ [
41
+ 0.38967136150234744,
42
+ 0.4133611691022965
43
+ ],
44
+ [
45
+ 0.39593114241001565,
46
+ 0.5386221294363257
47
+ ],
48
+ [
49
+ 0.39593114241001565,
50
+ 0.5532359081419624
51
+ ],
52
+ [
53
+ 0.39280125195618154,
54
+ 0.5553235908141962
55
+ ],
56
+ [
57
+ 0.3865414710485133,
58
+ 0.55741127348643
59
+ ],
60
+ [
61
+ 0.3755868544600939,
62
+ 0.5594989561586639
63
+ ],
64
+ [
65
+ 0.36306729264475746,
66
+ 0.5594989561586639
67
+ ],
68
+ [
69
+ 0.3536776212832551,
70
+ 0.55741127348643
71
+ ],
72
+ [
73
+ 0.3474178403755869,
74
+ 0.5553235908141962
75
+ ],
76
+ [
77
+ 0.3380281690140845,
78
+ 0.5490605427974948
79
+ ],
80
+ [
81
+ 0.3317683881064163,
82
+ 0.5407098121085595
83
+ ],
84
+ [
85
+ 0.3302034428794992,
86
+ 0.5302713987473904
87
+ ],
88
+ [
89
+ 0.3286384976525822,
90
+ 0.5156576200417536
91
+ ],
92
+ [
93
+ 0.323943661971831,
94
+ 0.4592901878914405
95
+ ],
96
+ [
97
+ 0.3208137715179969,
98
+ 0.4196242171189979
99
+ ]
100
+ ],
101
+ "visible_pixel_count": 3428
102
+ },
103
+ {
104
+ "body_id": 12,
105
+ "body_name": "plastic_cup_b",
106
+ "polygon_xy": [
107
+ [
108
+ 0.14241001564945227,
109
+ 0.3945720250521921
110
+ ],
111
+ [
112
+ 0.14397496087636932,
113
+ 0.3862212943632568
114
+ ],
115
+ [
116
+ 0.15805946791862285,
117
+ 0.3736951983298539
118
+ ],
119
+ [
120
+ 0.17370892018779344,
121
+ 0.3674321503131524
122
+ ],
123
+ [
124
+ 0.17996870109546165,
125
+ 0.3653444676409186
126
+ ],
127
+ [
128
+ 0.19405320813771518,
129
+ 0.36325678496868474
130
+ ],
131
+ [
132
+ 0.2081377151799687,
133
+ 0.36325678496868474
134
+ ],
135
+ [
136
+ 0.2222222222222222,
137
+ 0.3653444676409186
138
+ ],
139
+ [
140
+ 0.22848200312989045,
141
+ 0.3695198329853862
142
+ ],
143
+ [
144
+ 0.23317683881064163,
145
+ 0.3736951983298539
146
+ ],
147
+ [
148
+ 0.2347417840375587,
149
+ 0.3757828810020877
150
+ ],
151
+ [
152
+ 0.23630672926447574,
153
+ 0.3883089770354906
154
+ ],
155
+ [
156
+ 0.24100156494522693,
157
+ 0.4279749478079332
158
+ ],
159
+ [
160
+ 0.24726134585289514,
161
+ 0.4822546972860125
162
+ ],
163
+ [
164
+ 0.24726134585289514,
165
+ 0.4989561586638831
166
+ ],
167
+ [
168
+ 0.24569640062597808,
169
+ 0.5031315240083507
170
+ ],
171
+ [
172
+ 0.2378716744913928,
173
+ 0.5135699373695198
174
+ ],
175
+ [
176
+ 0.22535211267605634,
177
+ 0.5219206680584552
178
+ ],
179
+ [
180
+ 0.215962441314554,
181
+ 0.5260960334029228
182
+ ],
183
+ [
184
+ 0.2081377151799687,
185
+ 0.5281837160751566
186
+ ],
187
+ [
188
+ 0.1784037558685446,
189
+ 0.5281837160751566
190
+ ],
191
+ [
192
+ 0.17370892018779344,
193
+ 0.5260960334029228
194
+ ],
195
+ [
196
+ 0.1674491392801252,
197
+ 0.5219206680584552
198
+ ],
199
+ [
200
+ 0.16118935837245696,
201
+ 0.5135699373695198
202
+ ],
203
+ [
204
+ 0.1596244131455399,
205
+ 0.5093945720250522
206
+ ],
207
+ [
208
+ 0.14553990610328638,
209
+ 0.42171189979123175
210
+ ],
211
+ [
212
+ 0.14241001564945227,
213
+ 0.40083507306889354
214
+ ]
215
+ ],
216
+ "visible_pixel_count": 4390
217
+ }
218
+ ],
219
+ "scenario": "two_cups",
220
+ "seed": 300150,
221
+ "split": "test",
222
+ "visible_instance_count": 2
223
+ }
dataset/truth/test/000300151.json ADDED
@@ -0,0 +1,100 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.2378716744913928,
10
+ 0.4091858037578288
11
+ ],
12
+ [
13
+ 0.24413145539906103,
14
+ 0.40083507306889354
15
+ ],
16
+ [
17
+ 0.25039123630672927,
18
+ 0.3945720250521921
19
+ ],
20
+ [
21
+ 0.26917057902973396,
22
+ 0.3862212943632568
23
+ ],
24
+ [
25
+ 0.27856025039123633,
26
+ 0.38413361169102295
27
+ ],
28
+ [
29
+ 0.2942097026604069,
30
+ 0.38204592901878914
31
+ ],
32
+ [
33
+ 0.29577464788732394,
34
+ 0.38204592901878914
35
+ ],
36
+ [
37
+ 0.29890453834115804,
38
+ 0.38413361169102295
39
+ ],
40
+ [
41
+ 0.3004694835680751,
42
+ 0.3862212943632568
43
+ ],
44
+ [
45
+ 0.3082942097026604,
46
+ 0.47390396659707723
47
+ ],
48
+ [
49
+ 0.3145539906103286,
50
+ 0.5448851774530271
51
+ ],
52
+ [
53
+ 0.3145539906103286,
54
+ 0.5532359081419624
55
+ ],
56
+ [
57
+ 0.30985915492957744,
58
+ 0.5553235908141962
59
+ ],
60
+ [
61
+ 0.30203442879499215,
62
+ 0.55741127348643
63
+ ],
64
+ [
65
+ 0.27386541471048514,
66
+ 0.55741127348643
67
+ ],
68
+ [
69
+ 0.2644757433489828,
70
+ 0.5532359081419624
71
+ ],
72
+ [
73
+ 0.25821596244131456,
74
+ 0.5490605427974948
75
+ ],
76
+ [
77
+ 0.2519561815336463,
78
+ 0.5407098121085595
79
+ ],
80
+ [
81
+ 0.24882629107981222,
82
+ 0.5156576200417536
83
+ ],
84
+ [
85
+ 0.23943661971830985,
86
+ 0.4363256784968685
87
+ ],
88
+ [
89
+ 0.2378716744913928,
90
+ 0.42171189979123175
91
+ ]
92
+ ],
93
+ "visible_pixel_count": 3276
94
+ }
95
+ ],
96
+ "scenario": "cup_near_bottle",
97
+ "seed": 300151,
98
+ "split": "test",
99
+ "visible_instance_count": 1
100
+ }
dataset/truth/test/000300152.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300152,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300153.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.22848200312989045,
10
+ 0.4342379958246347
11
+ ],
12
+ [
13
+ 0.2347417840375587,
14
+ 0.42588726513569936
15
+ ],
16
+ [
17
+ 0.24100156494522693,
18
+ 0.4196242171189979
19
+ ],
20
+ [
21
+ 0.24413145539906103,
22
+ 0.4175365344467641
23
+ ],
24
+ [
25
+ 0.26291079812206575,
26
+ 0.4091858037578288
27
+ ],
28
+ [
29
+ 0.27856025039123633,
30
+ 0.407098121085595
31
+ ],
32
+ [
33
+ 0.29264475743348983,
34
+ 0.407098121085595
35
+ ],
36
+ [
37
+ 0.3051643192488263,
38
+ 0.4091858037578288
39
+ ],
40
+ [
41
+ 0.30985915492957744,
42
+ 0.4112734864300626
43
+ ],
44
+ [
45
+ 0.3192488262910798,
46
+ 0.4175365344467641
47
+ ],
48
+ [
49
+ 0.3208137715179969,
50
+ 0.4196242171189979
51
+ ],
52
+ [
53
+ 0.3223787167449139,
54
+ 0.42379958246346555
55
+ ],
56
+ [
57
+ 0.323943661971831,
58
+ 0.4342379958246347
59
+ ],
60
+ [
61
+ 0.3270735524256651,
62
+ 0.4718162839248434
63
+ ],
64
+ [
65
+ 0.3317683881064163,
66
+ 0.5302713987473904
67
+ ],
68
+ [
69
+ 0.3317683881064163,
70
+ 0.5511482254697286
71
+ ],
72
+ [
73
+ 0.3302034428794992,
74
+ 0.5553235908141962
75
+ ],
76
+ [
77
+ 0.3208137715179969,
78
+ 0.5678496868475992
79
+ ],
80
+ [
81
+ 0.3082942097026604,
82
+ 0.5762004175365344
83
+ ],
84
+ [
85
+ 0.30359937402190923,
86
+ 0.5782881002087683
87
+ ],
88
+ [
89
+ 0.297339593114241,
90
+ 0.5803757828810021
91
+ ],
92
+ [
93
+ 0.28794992175273865,
94
+ 0.5824634655532359
95
+ ],
96
+ [
97
+ 0.26917057902973396,
98
+ 0.5824634655532359
99
+ ],
100
+ [
101
+ 0.26134585289514867,
102
+ 0.5803757828810021
103
+ ],
104
+ [
105
+ 0.2566510172143975,
106
+ 0.5782881002087683
107
+ ],
108
+ [
109
+ 0.25039123630672927,
110
+ 0.5741127348643006
111
+ ],
112
+ [
113
+ 0.24413145539906103,
114
+ 0.5657620041753654
115
+ ],
116
+ [
117
+ 0.24256651017214398,
118
+ 0.5615866388308977
119
+ ],
120
+ [
121
+ 0.22848200312989045,
122
+ 0.4488517745302714
123
+ ]
124
+ ],
125
+ "visible_pixel_count": 4718
126
+ }
127
+ ],
128
+ "scenario": "one_cup_distractors",
129
+ "seed": 300153,
130
+ "split": "test",
131
+ "visible_instance_count": 1
132
+ }
dataset/truth/test/000300154.json ADDED
@@ -0,0 +1,239 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.3004694835680751,
10
+ 0.4154488517745303
11
+ ],
12
+ [
13
+ 0.3114241001564945,
14
+ 0.40083507306889354
15
+ ],
16
+ [
17
+ 0.3192488262910798,
18
+ 0.3966597077244259
19
+ ],
20
+ [
21
+ 0.3286384976525822,
22
+ 0.3924843423799583
23
+ ],
24
+ [
25
+ 0.3348982785602504,
26
+ 0.3903966597077244
27
+ ],
28
+ [
29
+ 0.3489827856025039,
30
+ 0.3883089770354906
31
+ ],
32
+ [
33
+ 0.35837245696400627,
34
+ 0.3883089770354906
35
+ ],
36
+ [
37
+ 0.3599374021909233,
38
+ 0.3903966597077244
39
+ ],
40
+ [
41
+ 0.36932707355242567,
42
+ 0.5407098121085595
43
+ ],
44
+ [
45
+ 0.36932707355242567,
46
+ 0.5636743215031316
47
+ ],
48
+ [
49
+ 0.3677621283255086,
50
+ 0.5657620041753654
51
+ ],
52
+ [
53
+ 0.3568075117370892,
54
+ 0.5678496868475992
55
+ ],
56
+ [
57
+ 0.3458528951486698,
58
+ 0.5678496868475992
59
+ ],
60
+ [
61
+ 0.3348982785602504,
62
+ 0.5657620041753654
63
+ ],
64
+ [
65
+ 0.325508607198748,
66
+ 0.5615866388308977
67
+ ],
68
+ [
69
+ 0.3223787167449139,
70
+ 0.5594989561586639
71
+ ],
72
+ [
73
+ 0.31768388106416273,
74
+ 0.5553235908141962
75
+ ],
76
+ [
77
+ 0.3129890453834116,
78
+ 0.5490605427974948
79
+ ],
80
+ [
81
+ 0.3114241001564945,
82
+ 0.5386221294363257
83
+ ],
84
+ [
85
+ 0.30672926447574334,
86
+ 0.48851774530271397
87
+ ],
88
+ [
89
+ 0.3004694835680751,
90
+ 0.4196242171189979
91
+ ]
92
+ ],
93
+ "visible_pixel_count": 3100
94
+ },
95
+ {
96
+ "body_id": 12,
97
+ "body_name": "plastic_cup_b",
98
+ "polygon_xy": [
99
+ [
100
+ 0.13302034428794993,
101
+ 0.3966597077244259
102
+ ],
103
+ [
104
+ 0.13458528951486698,
105
+ 0.3883089770354906
106
+ ],
107
+ [
108
+ 0.13615023474178403,
109
+ 0.3862212943632568
110
+ ],
111
+ [
112
+ 0.14553990610328638,
113
+ 0.3778705636743215
114
+ ],
115
+ [
116
+ 0.15179968701095461,
117
+ 0.3736951983298539
118
+ ],
119
+ [
120
+ 0.1564945226917058,
121
+ 0.37160751565762007
122
+ ],
123
+ [
124
+ 0.1674491392801252,
125
+ 0.3674321503131524
126
+ ],
127
+ [
128
+ 0.1752738654147105,
129
+ 0.3653444676409186
130
+ ],
131
+ [
132
+ 0.19248826291079812,
133
+ 0.36325678496868474
134
+ ],
135
+ [
136
+ 0.19718309859154928,
137
+ 0.36325678496868474
138
+ ],
139
+ [
140
+ 0.20970266040688576,
141
+ 0.3653444676409186
142
+ ],
143
+ [
144
+ 0.215962441314554,
145
+ 0.3674321503131524
146
+ ],
147
+ [
148
+ 0.22535211267605634,
149
+ 0.3736951983298539
150
+ ],
151
+ [
152
+ 0.2269170579029734,
153
+ 0.3757828810020877
154
+ ],
155
+ [
156
+ 0.22848200312989045,
157
+ 0.38413361169102295
158
+ ],
159
+ [
160
+ 0.2347417840375587,
161
+ 0.4342379958246347
162
+ ],
163
+ [
164
+ 0.24100156494522693,
165
+ 0.48643006263048016
166
+ ],
167
+ [
168
+ 0.24100156494522693,
169
+ 0.5031315240083507
170
+ ],
171
+ [
172
+ 0.23943661971830985,
173
+ 0.5073068893528184
174
+ ],
175
+ [
176
+ 0.23317683881064163,
177
+ 0.5156576200417536
178
+ ],
179
+ [
180
+ 0.22848200312989045,
181
+ 0.5198329853862212
182
+ ],
183
+ [
184
+ 0.2190923317683881,
185
+ 0.5260960334029228
186
+ ],
187
+ [
188
+ 0.20970266040688576,
189
+ 0.5302713987473904
190
+ ],
191
+ [
192
+ 0.20344287949921752,
193
+ 0.5323590814196242
194
+ ],
195
+ [
196
+ 0.19092331768388107,
197
+ 0.534446764091858
198
+ ],
199
+ [
200
+ 0.1784037558685446,
201
+ 0.534446764091858
202
+ ],
203
+ [
204
+ 0.16901408450704225,
205
+ 0.5323590814196242
206
+ ],
207
+ [
208
+ 0.1643192488262911,
209
+ 0.5302713987473904
210
+ ],
211
+ [
212
+ 0.15805946791862285,
213
+ 0.5260960334029228
214
+ ],
215
+ [
216
+ 0.15179968701095461,
217
+ 0.5177453027139874
218
+ ],
219
+ [
220
+ 0.15023474178403756,
221
+ 0.5093945720250522
222
+ ],
223
+ [
224
+ 0.13771517996870108,
225
+ 0.4342379958246347
226
+ ],
227
+ [
228
+ 0.13302034428794993,
229
+ 0.40501043841336115
230
+ ]
231
+ ],
232
+ "visible_pixel_count": 4623
233
+ }
234
+ ],
235
+ "scenario": "two_cups",
236
+ "seed": 300154,
237
+ "split": "test",
238
+ "visible_instance_count": 2
239
+ }
dataset/truth/test/000300155.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.28012519561815336,
10
+ 0.4133611691022965
11
+ ],
12
+ [
13
+ 0.2895148669796557,
14
+ 0.40083507306889354
15
+ ],
16
+ [
17
+ 0.29577464788732394,
18
+ 0.3966597077244259
19
+ ],
20
+ [
21
+ 0.30985915492957744,
22
+ 0.3903966597077244
23
+ ],
24
+ [
25
+ 0.3192488262910798,
26
+ 0.3883089770354906
27
+ ],
28
+ [
29
+ 0.3458528951486698,
30
+ 0.3883089770354906
31
+ ],
32
+ [
33
+ 0.3474178403755869,
34
+ 0.407098121085595
35
+ ],
36
+ [
37
+ 0.3568075117370892,
38
+ 0.5448851774530271
39
+ ],
40
+ [
41
+ 0.3568075117370892,
42
+ 0.5553235908141962
43
+ ],
44
+ [
45
+ 0.352112676056338,
46
+ 0.55741127348643
47
+ ],
48
+ [
49
+ 0.3458528951486698,
50
+ 0.5594989561586639
51
+ ],
52
+ [
53
+ 0.3145539906103286,
54
+ 0.5594989561586639
55
+ ],
56
+ [
57
+ 0.3051643192488263,
58
+ 0.5553235908141962
59
+ ],
60
+ [
61
+ 0.30203442879499215,
62
+ 0.5532359081419624
63
+ ],
64
+ [
65
+ 0.297339593114241,
66
+ 0.5490605427974948
67
+ ],
68
+ [
69
+ 0.2942097026604069,
70
+ 0.5448851774530271
71
+ ],
72
+ [
73
+ 0.29264475743348983,
74
+ 0.5407098121085595
75
+ ],
76
+ [
77
+ 0.28012519561815336,
78
+ 0.4154488517745303
79
+ ]
80
+ ],
81
+ "visible_pixel_count": 3339
82
+ }
83
+ ],
84
+ "scenario": "cup_near_bottle",
85
+ "seed": 300155,
86
+ "split": "test",
87
+ "visible_instance_count": 1
88
+ }
dataset/truth/test/000300156.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300156,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300157.json ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.24882629107981222,
10
+ 0.3903966597077244
11
+ ],
12
+ [
13
+ 0.25508607198748046,
14
+ 0.38204592901878914
15
+ ],
16
+ [
17
+ 0.2597809076682316,
18
+ 0.3778705636743215
19
+ ],
20
+ [
21
+ 0.27856025039123633,
22
+ 0.3695198329853862
23
+ ],
24
+ [
25
+ 0.29107981220657275,
26
+ 0.3674321503131524
27
+ ],
28
+ [
29
+ 0.3114241001564945,
30
+ 0.3674321503131524
31
+ ],
32
+ [
33
+ 0.3223787167449139,
34
+ 0.3695198329853862
35
+ ],
36
+ [
37
+ 0.3286384976525822,
38
+ 0.3736951983298539
39
+ ],
40
+ [
41
+ 0.3302034428794992,
42
+ 0.3862212943632568
43
+ ],
44
+ [
45
+ 0.3333333333333333,
46
+ 0.42588726513569936
47
+ ],
48
+ [
49
+ 0.3395931142410016,
50
+ 0.5093945720250522
51
+ ],
52
+ [
53
+ 0.3395931142410016,
54
+ 0.5135699373695198
55
+ ],
56
+ [
57
+ 0.3364632237871675,
58
+ 0.5177453027139874
59
+ ],
60
+ [
61
+ 0.323943661971831,
62
+ 0.5260960334029228
63
+ ],
64
+ [
65
+ 0.3192488262910798,
66
+ 0.5281837160751566
67
+ ],
68
+ [
69
+ 0.3129890453834116,
70
+ 0.5302713987473904
71
+ ],
72
+ [
73
+ 0.30203442879499215,
74
+ 0.5323590814196242
75
+ ],
76
+ [
77
+ 0.2895148669796557,
78
+ 0.5323590814196242
79
+ ],
80
+ [
81
+ 0.28012519561815336,
82
+ 0.5302713987473904
83
+ ],
84
+ [
85
+ 0.27386541471048514,
86
+ 0.5281837160751566
87
+ ],
88
+ [
89
+ 0.2676056338028169,
90
+ 0.524008350730689
91
+ ],
92
+ [
93
+ 0.26134585289514867,
94
+ 0.5156576200417536
95
+ ],
96
+ [
97
+ 0.2597809076682316,
98
+ 0.5031315240083507
99
+ ],
100
+ [
101
+ 0.2535211267605634,
102
+ 0.4488517745302714
103
+ ],
104
+ [
105
+ 0.24882629107981222,
106
+ 0.407098121085595
107
+ ]
108
+ ],
109
+ "visible_pixel_count": 3891
110
+ }
111
+ ],
112
+ "scenario": "one_cup_distractors",
113
+ "seed": 300157,
114
+ "split": "test",
115
+ "visible_instance_count": 1
116
+ }
dataset/truth/test/000300158.json ADDED
@@ -0,0 +1,243 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.18309859154929578,
10
+ 0.40083507306889354
11
+ ],
12
+ [
13
+ 0.18466353677621283,
14
+ 0.3966597077244259
15
+ ],
16
+ [
17
+ 0.18622848200312989,
18
+ 0.3945720250521921
19
+ ],
20
+ [
21
+ 0.19248826291079812,
22
+ 0.3883089770354906
23
+ ],
24
+ [
25
+ 0.20187793427230047,
26
+ 0.38204592901878914
27
+ ],
28
+ [
29
+ 0.215962441314554,
30
+ 0.3757828810020877
31
+ ],
32
+ [
33
+ 0.22535211267605634,
34
+ 0.3736951983298539
35
+ ],
36
+ [
37
+ 0.24100156494522693,
38
+ 0.37160751565762007
39
+ ],
40
+ [
41
+ 0.24413145539906103,
42
+ 0.37160751565762007
43
+ ],
44
+ [
45
+ 0.25821596244131456,
46
+ 0.3736951983298539
47
+ ],
48
+ [
49
+ 0.26604068857589985,
50
+ 0.3757828810020877
51
+ ],
52
+ [
53
+ 0.27543035993740217,
54
+ 0.38204592901878914
55
+ ],
56
+ [
57
+ 0.27699530516431925,
58
+ 0.38413361169102295
59
+ ],
60
+ [
61
+ 0.27856025039123633,
62
+ 0.3883089770354906
63
+ ],
64
+ [
65
+ 0.28012519561815336,
66
+ 0.40292275574112735
67
+ ],
68
+ [
69
+ 0.29107981220657275,
70
+ 0.5135699373695198
71
+ ],
72
+ [
73
+ 0.2863849765258216,
74
+ 0.524008350730689
75
+ ],
76
+ [
77
+ 0.28325508607198746,
78
+ 0.5281837160751566
79
+ ],
80
+ [
81
+ 0.27856025039123633,
82
+ 0.5323590814196242
83
+ ],
84
+ [
85
+ 0.26604068857589985,
86
+ 0.5407098121085595
87
+ ],
88
+ [
89
+ 0.26134585289514867,
90
+ 0.5427974947807933
91
+ ],
92
+ [
93
+ 0.25508607198748046,
94
+ 0.5448851774530271
95
+ ],
96
+ [
97
+ 0.24726134585289514,
98
+ 0.5469728601252609
99
+ ],
100
+ [
101
+ 0.2237871674491393,
102
+ 0.5469728601252609
103
+ ],
104
+ [
105
+ 0.21752738654147105,
106
+ 0.5448851774530271
107
+ ],
108
+ [
109
+ 0.21283255086071987,
110
+ 0.5427974947807933
111
+ ],
112
+ [
113
+ 0.20657276995305165,
114
+ 0.5386221294363257
115
+ ],
116
+ [
117
+ 0.20031298904538342,
118
+ 0.5302713987473904
119
+ ],
120
+ [
121
+ 0.19874804381846636,
122
+ 0.524008350730689
123
+ ],
124
+ [
125
+ 0.18622848200312989,
126
+ 0.4363256784968685
127
+ ],
128
+ [
129
+ 0.18309859154929578,
130
+ 0.4133611691022965
131
+ ]
132
+ ],
133
+ "visible_pixel_count": 4770
134
+ },
135
+ {
136
+ "body_id": 12,
137
+ "body_name": "plastic_cup_b",
138
+ "polygon_xy": [
139
+ [
140
+ 0.1189358372456964,
141
+ 0.37160751565762007
142
+ ],
143
+ [
144
+ 0.12050078247261346,
145
+ 0.3653444676409186
146
+ ],
147
+ [
148
+ 0.13302034428794993,
149
+ 0.35490605427974947
150
+ ],
151
+ [
152
+ 0.14241001564945227,
153
+ 0.35073068893528186
154
+ ],
155
+ [
156
+ 0.15336463223787167,
157
+ 0.3465553235908142
158
+ ],
159
+ [
160
+ 0.16588419405320814,
161
+ 0.3444676409185804
162
+ ],
163
+ [
164
+ 0.19092331768388107,
165
+ 0.3444676409185804
166
+ ],
167
+ [
168
+ 0.20031298904538342,
169
+ 0.3465553235908142
170
+ ],
171
+ [
172
+ 0.20657276995305165,
173
+ 0.35073068893528186
174
+ ],
175
+ [
176
+ 0.2112676056338028,
177
+ 0.3569937369519833
178
+ ],
179
+ [
180
+ 0.21283255086071987,
181
+ 0.3695198329853862
182
+ ],
183
+ [
184
+ 0.21283255086071987,
185
+ 0.3757828810020877
186
+ ],
187
+ [
188
+ 0.19561815336463223,
189
+ 0.5031315240083507
190
+ ],
191
+ [
192
+ 0.19248826291079812,
193
+ 0.5052192066805845
194
+ ],
195
+ [
196
+ 0.18622848200312989,
197
+ 0.5073068893528184
198
+ ],
199
+ [
200
+ 0.15492957746478872,
201
+ 0.5073068893528184
202
+ ],
203
+ [
204
+ 0.15023474178403756,
205
+ 0.5052192066805845
206
+ ],
207
+ [
208
+ 0.14397496087636932,
209
+ 0.5010438413361169
210
+ ],
211
+ [
212
+ 0.13771517996870108,
213
+ 0.49269311064718163
214
+ ],
215
+ [
216
+ 0.13615023474178403,
217
+ 0.48643006263048016
218
+ ],
219
+ [
220
+ 0.13145539906103287,
221
+ 0.4592901878914405
222
+ ],
223
+ [
224
+ 0.12363067292644757,
225
+ 0.4133611691022965
226
+ ],
227
+ [
228
+ 0.12050078247261346,
229
+ 0.3945720250521921
230
+ ],
231
+ [
232
+ 0.1189358372456964,
233
+ 0.38413361169102295
234
+ ]
235
+ ],
236
+ "visible_pixel_count": 3225
237
+ }
238
+ ],
239
+ "scenario": "two_cups",
240
+ "seed": 300158,
241
+ "split": "test",
242
+ "visible_instance_count": 2
243
+ }
dataset/truth/test/000300159.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.27543035993740217,
10
+ 0.3945720250521921
11
+ ],
12
+ [
13
+ 0.28482003129890454,
14
+ 0.38413361169102295
15
+ ],
16
+ [
17
+ 0.30203442879499215,
18
+ 0.3757828810020877
19
+ ],
20
+ [
21
+ 0.3114241001564945,
22
+ 0.3736951983298539
23
+ ],
24
+ [
25
+ 0.3270735524256651,
26
+ 0.37160751565762007
27
+ ],
28
+ [
29
+ 0.3286384976525822,
30
+ 0.37160751565762007
31
+ ],
32
+ [
33
+ 0.3380281690140845,
34
+ 0.3736951983298539
35
+ ],
36
+ [
37
+ 0.3395931142410016,
38
+ 0.3924843423799583
39
+ ],
40
+ [
41
+ 0.3474178403755869,
42
+ 0.5010438413361169
43
+ ],
44
+ [
45
+ 0.3489827856025039,
46
+ 0.524008350730689
47
+ ],
48
+ [
49
+ 0.3489827856025039,
50
+ 0.5365344467640919
51
+ ],
52
+ [
53
+ 0.3442879499217527,
54
+ 0.5386221294363257
55
+ ],
56
+ [
57
+ 0.3380281690140845,
58
+ 0.5407098121085595
59
+ ],
60
+ [
61
+ 0.3082942097026604,
62
+ 0.5407098121085595
63
+ ],
64
+ [
65
+ 0.30203442879499215,
66
+ 0.5386221294363257
67
+ ],
68
+ [
69
+ 0.29264475743348983,
70
+ 0.5323590814196242
71
+ ],
72
+ [
73
+ 0.28794992175273865,
74
+ 0.5260960334029228
75
+ ],
76
+ [
77
+ 0.2863849765258216,
78
+ 0.5198329853862212
79
+ ],
80
+ [
81
+ 0.28482003129890454,
82
+ 0.5052192066805845
83
+ ],
84
+ [
85
+ 0.28012519561815336,
86
+ 0.4592901878914405
87
+ ],
88
+ [
89
+ 0.27699530516431925,
90
+ 0.4279749478079332
91
+ ],
92
+ [
93
+ 0.27543035993740217,
94
+ 0.4112734864300626
95
+ ]
96
+ ],
97
+ "visible_pixel_count": 3174
98
+ }
99
+ ],
100
+ "scenario": "cup_near_bottle",
101
+ "seed": 300159,
102
+ "split": "test",
103
+ "visible_instance_count": 1
104
+ }
dataset/truth/test/000300160.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300160,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300161.json ADDED
@@ -0,0 +1,136 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.2269170579029734,
10
+ 0.44258872651356995
11
+ ],
12
+ [
13
+ 0.2300469483568075,
14
+ 0.4384133611691023
15
+ ],
16
+ [
17
+ 0.2378716744913928,
18
+ 0.430062630480167
19
+ ],
20
+ [
21
+ 0.24413145539906103,
22
+ 0.42588726513569936
23
+ ],
24
+ [
25
+ 0.26291079812206575,
26
+ 0.4175365344467641
27
+ ],
28
+ [
29
+ 0.27543035993740217,
30
+ 0.4154488517745303
31
+ ],
32
+ [
33
+ 0.29577464788732394,
34
+ 0.4154488517745303
35
+ ],
36
+ [
37
+ 0.3082942097026604,
38
+ 0.4175365344467641
39
+ ],
40
+ [
41
+ 0.3208137715179969,
42
+ 0.42588726513569936
43
+ ],
44
+ [
45
+ 0.323943661971831,
46
+ 0.430062630480167
47
+ ],
48
+ [
49
+ 0.325508607198748,
50
+ 0.4384133611691023
51
+ ],
52
+ [
53
+ 0.3270735524256651,
54
+ 0.4509394572025052
55
+ ],
56
+ [
57
+ 0.3286384976525822,
58
+ 0.4697286012526096
59
+ ],
60
+ [
61
+ 0.3348982785602504,
62
+ 0.5490605427974948
63
+ ],
64
+ [
65
+ 0.3348982785602504,
66
+ 0.5636743215031316
67
+ ],
68
+ [
69
+ 0.3317683881064163,
70
+ 0.5720250521920668
71
+ ],
72
+ [
73
+ 0.323943661971831,
74
+ 0.5824634655532359
75
+ ],
76
+ [
77
+ 0.3161189358372457,
78
+ 0.5887265135699373
79
+ ],
80
+ [
81
+ 0.3082942097026604,
82
+ 0.592901878914405
83
+ ],
84
+ [
85
+ 0.30359937402190923,
86
+ 0.5949895615866388
87
+ ],
88
+ [
89
+ 0.297339593114241,
90
+ 0.5970772442588727
91
+ ],
92
+ [
93
+ 0.2863849765258216,
94
+ 0.5991649269311065
95
+ ],
96
+ [
97
+ 0.27230046948356806,
98
+ 0.5991649269311065
99
+ ],
100
+ [
101
+ 0.26291079812206575,
102
+ 0.5970772442588727
103
+ ],
104
+ [
105
+ 0.25821596244131456,
106
+ 0.5949895615866388
107
+ ],
108
+ [
109
+ 0.24882629107981222,
110
+ 0.5887265135699373
111
+ ],
112
+ [
113
+ 0.24256651017214398,
114
+ 0.5803757828810021
115
+ ],
116
+ [
117
+ 0.24100156494522693,
118
+ 0.5720250521920668
119
+ ],
120
+ [
121
+ 0.2378716744913928,
122
+ 0.5490605427974948
123
+ ],
124
+ [
125
+ 0.2269170579029734,
126
+ 0.4613778705636743
127
+ ]
128
+ ],
129
+ "visible_pixel_count": 5149
130
+ }
131
+ ],
132
+ "scenario": "one_cup_distractors",
133
+ "seed": 300161,
134
+ "split": "test",
135
+ "visible_instance_count": 1
136
+ }
dataset/truth/test/000300162.json ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.17683881064162754,
10
+ 0.40083507306889354
11
+ ],
12
+ [
13
+ 0.18153364632237873,
14
+ 0.3945720250521921
15
+ ],
16
+ [
17
+ 0.18779342723004694,
18
+ 0.3883089770354906
19
+ ],
20
+ [
21
+ 0.19092331768388107,
22
+ 0.3862212943632568
23
+ ],
24
+ [
25
+ 0.20970266040688576,
26
+ 0.3778705636743215
27
+ ],
28
+ [
29
+ 0.2190923317683881,
30
+ 0.3757828810020877
31
+ ],
32
+ [
33
+ 0.23317683881064163,
34
+ 0.3736951983298539
35
+ ],
36
+ [
37
+ 0.23943661971830985,
38
+ 0.3736951983298539
39
+ ],
40
+ [
41
+ 0.2519561815336463,
42
+ 0.3757828810020877
43
+ ],
44
+ [
45
+ 0.2597809076682316,
46
+ 0.3778705636743215
47
+ ],
48
+ [
49
+ 0.27073552425665104,
50
+ 0.3862212943632568
51
+ ],
52
+ [
53
+ 0.27230046948356806,
54
+ 0.3987473903966597
55
+ ],
56
+ [
57
+ 0.28169014084507044,
58
+ 0.4906054279749478
59
+ ],
60
+ [
61
+ 0.28325508607198746,
62
+ 0.5073068893528184
63
+ ],
64
+ [
65
+ 0.28325508607198746,
66
+ 0.5156576200417536
67
+ ],
68
+ [
69
+ 0.28169014084507044,
70
+ 0.5198329853862212
71
+ ],
72
+ [
73
+ 0.27856025039123633,
74
+ 0.5260960334029228
75
+ ],
76
+ [
77
+ 0.27699530516431925,
78
+ 0.5281837160751566
79
+ ],
80
+ [
81
+ 0.2676056338028169,
82
+ 0.5365344467640919
83
+ ],
84
+ [
85
+ 0.2644757433489828,
86
+ 0.5386221294363257
87
+ ],
88
+ [
89
+ 0.25039123630672927,
90
+ 0.5448851774530271
91
+ ],
92
+ [
93
+ 0.24256651017214398,
94
+ 0.5469728601252609
95
+ ],
96
+ [
97
+ 0.21439749608763695,
98
+ 0.5469728601252609
99
+ ],
100
+ [
101
+ 0.2081377151799687,
102
+ 0.5448851774530271
103
+ ],
104
+ [
105
+ 0.20187793427230047,
106
+ 0.5407098121085595
107
+ ],
108
+ [
109
+ 0.19405320813771518,
110
+ 0.5302713987473904
111
+ ],
112
+ [
113
+ 0.19248826291079812,
114
+ 0.5260960334029228
115
+ ],
116
+ [
117
+ 0.19092331768388107,
118
+ 0.5156576200417536
119
+ ],
120
+ [
121
+ 0.17683881064162754,
122
+ 0.4196242171189979
123
+ ]
124
+ ],
125
+ "visible_pixel_count": 4702
126
+ },
127
+ {
128
+ "body_id": 12,
129
+ "body_name": "plastic_cup_b",
130
+ "polygon_xy": [
131
+ [
132
+ 0.162754303599374,
133
+ 0.35281837160751567
134
+ ],
135
+ [
136
+ 0.16588419405320814,
137
+ 0.348643006263048
138
+ ],
139
+ [
140
+ 0.1752738654147105,
141
+ 0.34029227557411273
142
+ ],
143
+ [
144
+ 0.18622848200312989,
145
+ 0.33611691022964507
146
+ ],
147
+ [
148
+ 0.19874804381846636,
149
+ 0.33194154488517746
150
+ ],
151
+ [
152
+ 0.215962441314554,
153
+ 0.3298538622129436
154
+ ],
155
+ [
156
+ 0.22065727699530516,
157
+ 0.3298538622129436
158
+ ],
159
+ [
160
+ 0.23630672926447574,
161
+ 0.33194154488517746
162
+ ],
163
+ [
164
+ 0.24882629107981222,
165
+ 0.34029227557411273
166
+ ],
167
+ [
168
+ 0.25039123630672927,
169
+ 0.3444676409185804
170
+ ],
171
+ [
172
+ 0.2535211267605634,
173
+ 0.3736951983298539
174
+ ],
175
+ [
176
+ 0.2535211267605634,
177
+ 0.3757828810020877
178
+ ],
179
+ [
180
+ 0.18466353677621283,
181
+ 0.4801670146137787
182
+ ],
183
+ [
184
+ 0.18309859154929578,
185
+ 0.4801670146137787
186
+ ],
187
+ [
188
+ 0.1784037558685446,
189
+ 0.47390396659707723
190
+ ],
191
+ [
192
+ 0.162754303599374,
193
+ 0.3695198329853862
194
+ ]
195
+ ],
196
+ "visible_pixel_count": 1457
197
+ }
198
+ ],
199
+ "scenario": "two_cups",
200
+ "seed": 300162,
201
+ "split": "test",
202
+ "visible_instance_count": 2
203
+ }
dataset/truth/test/000300163.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.28482003129890454,
10
+ 0.42379958246346555
11
+ ],
12
+ [
13
+ 0.29577464788732394,
14
+ 0.4091858037578288
15
+ ],
16
+ [
17
+ 0.3145539906103286,
18
+ 0.40083507306889354
19
+ ],
20
+ [
21
+ 0.325508607198748,
22
+ 0.3987473903966597
23
+ ],
24
+ [
25
+ 0.3489827856025039,
26
+ 0.3987473903966597
27
+ ],
28
+ [
29
+ 0.350547730829421,
30
+ 0.4154488517745303
31
+ ],
32
+ [
33
+ 0.3536776212832551,
34
+ 0.4613778705636743
35
+ ],
36
+ [
37
+ 0.3599374021909233,
38
+ 0.5553235908141962
39
+ ],
40
+ [
41
+ 0.3599374021909233,
42
+ 0.5615866388308977
43
+ ],
44
+ [
45
+ 0.35837245696400627,
46
+ 0.5636743215031316
47
+ ],
48
+ [
49
+ 0.3536776212832551,
50
+ 0.5657620041753654
51
+ ],
52
+ [
53
+ 0.3474178403755869,
54
+ 0.5678496868475992
55
+ ],
56
+ [
57
+ 0.3192488262910798,
58
+ 0.5678496868475992
59
+ ],
60
+ [
61
+ 0.30985915492957744,
62
+ 0.5636743215031316
63
+ ],
64
+ [
65
+ 0.30359937402190923,
66
+ 0.5594989561586639
67
+ ],
68
+ [
69
+ 0.297339593114241,
70
+ 0.5511482254697286
71
+ ],
72
+ [
73
+ 0.29577464788732394,
74
+ 0.5407098121085595
75
+ ],
76
+ [
77
+ 0.2942097026604069,
78
+ 0.5260960334029228
79
+ ],
80
+ [
81
+ 0.2863849765258216,
82
+ 0.44676409185803756
83
+ ],
84
+ [
85
+ 0.28482003129890454,
86
+ 0.430062630480167
87
+ ]
88
+ ],
89
+ "visible_pixel_count": 3238
90
+ }
91
+ ],
92
+ "scenario": "cup_near_bottle",
93
+ "seed": 300163,
94
+ "split": "test",
95
+ "visible_instance_count": 1
96
+ }
dataset/truth/test/000300164.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300164,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300165.json ADDED
@@ -0,0 +1,124 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.2190923317683881,
10
+ 0.40501043841336115
11
+ ],
12
+ [
13
+ 0.2237871674491393,
14
+ 0.3987473903966597
15
+ ],
16
+ [
17
+ 0.2300469483568075,
18
+ 0.3924843423799583
19
+ ],
20
+ [
21
+ 0.24882629107981222,
22
+ 0.38413361169102295
23
+ ],
24
+ [
25
+ 0.2597809076682316,
26
+ 0.38204592901878914
27
+ ],
28
+ [
29
+ 0.2863849765258216,
30
+ 0.38204592901878914
31
+ ],
32
+ [
33
+ 0.2942097026604069,
34
+ 0.38413361169102295
35
+ ],
36
+ [
37
+ 0.30672926447574334,
38
+ 0.3924843423799583
39
+ ],
40
+ [
41
+ 0.3082942097026604,
42
+ 0.40083507306889354
43
+ ],
44
+ [
45
+ 0.30985915492957744,
46
+ 0.4154488517745303
47
+ ],
48
+ [
49
+ 0.3145539906103286,
50
+ 0.4697286012526096
51
+ ],
52
+ [
53
+ 0.31768388106416273,
54
+ 0.5073068893528184
55
+ ],
56
+ [
57
+ 0.31768388106416273,
58
+ 0.5156576200417536
59
+ ],
60
+ [
61
+ 0.3161189358372457,
62
+ 0.5219206680584552
63
+ ],
64
+ [
65
+ 0.3082942097026604,
66
+ 0.5323590814196242
67
+ ],
68
+ [
69
+ 0.29577464788732394,
70
+ 0.5407098121085595
71
+ ],
72
+ [
73
+ 0.29107981220657275,
74
+ 0.5427974947807933
75
+ ],
76
+ [
77
+ 0.28482003129890454,
78
+ 0.5448851774530271
79
+ ],
80
+ [
81
+ 0.27699530516431925,
82
+ 0.5469728601252609
83
+ ],
84
+ [
85
+ 0.2566510172143975,
86
+ 0.5469728601252609
87
+ ],
88
+ [
89
+ 0.24882629107981222,
90
+ 0.5448851774530271
91
+ ],
92
+ [
93
+ 0.24413145539906103,
94
+ 0.5427974947807933
95
+ ],
96
+ [
97
+ 0.24100156494522693,
98
+ 0.5407098121085595
99
+ ],
100
+ [
101
+ 0.23317683881064163,
102
+ 0.5302713987473904
103
+ ],
104
+ [
105
+ 0.23161189358372458,
106
+ 0.524008350730689
107
+ ],
108
+ [
109
+ 0.2300469483568075,
110
+ 0.5135699373695198
111
+ ],
112
+ [
113
+ 0.2190923317683881,
114
+ 0.4279749478079332
115
+ ]
116
+ ],
117
+ "visible_pixel_count": 4258
118
+ }
119
+ ],
120
+ "scenario": "one_cup_distractors",
121
+ "seed": 300165,
122
+ "split": "test",
123
+ "visible_instance_count": 1
124
+ }
dataset/truth/test/000300166.json ADDED
@@ -0,0 +1,247 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.2081377151799687,
10
+ 0.4697286012526096
11
+ ],
12
+ [
13
+ 0.20970266040688576,
14
+ 0.4592901878914405
15
+ ],
16
+ [
17
+ 0.21752738654147105,
18
+ 0.4488517745302714
19
+ ],
20
+ [
21
+ 0.2222222222222222,
22
+ 0.44467640918580376
23
+ ],
24
+ [
25
+ 0.22535211267605634,
26
+ 0.44258872651356995
27
+ ],
28
+ [
29
+ 0.24256651017214398,
30
+ 0.4342379958246347
31
+ ],
32
+ [
33
+ 0.2535211267605634,
34
+ 0.4321503131524008
35
+ ],
36
+ [
37
+ 0.2676056338028169,
38
+ 0.430062630480167
39
+ ],
40
+ [
41
+ 0.27073552425665104,
42
+ 0.430062630480167
43
+ ],
44
+ [
45
+ 0.28325508607198746,
46
+ 0.4321503131524008
47
+ ],
48
+ [
49
+ 0.29107981220657275,
50
+ 0.4342379958246347
51
+ ],
52
+ [
53
+ 0.30359937402190923,
54
+ 0.44258872651356995
55
+ ],
56
+ [
57
+ 0.3051643192488263,
58
+ 0.44467640918580376
59
+ ],
60
+ [
61
+ 0.30672926447574334,
62
+ 0.4509394572025052
63
+ ],
64
+ [
65
+ 0.3082942097026604,
66
+ 0.46555323590814196
67
+ ],
68
+ [
69
+ 0.30985915492957744,
70
+ 0.4822546972860125
71
+ ],
72
+ [
73
+ 0.3161189358372457,
74
+ 0.5532359081419624
75
+ ],
76
+ [
77
+ 0.31768388106416273,
78
+ 0.5720250521920668
79
+ ],
80
+ [
81
+ 0.31768388106416273,
82
+ 0.5782881002087683
83
+ ],
84
+ [
85
+ 0.3129890453834116,
86
+ 0.5887265135699373
87
+ ],
88
+ [
89
+ 0.3082942097026604,
90
+ 0.5949895615866388
91
+ ],
92
+ [
93
+ 0.30359937402190923,
94
+ 0.5991649269311065
95
+ ],
96
+ [
97
+ 0.29107981220657275,
98
+ 0.6075156576200418
99
+ ],
100
+ [
101
+ 0.2863849765258216,
102
+ 0.6096033402922756
103
+ ],
104
+ [
105
+ 0.28012519561815336,
106
+ 0.6116910229645094
107
+ ],
108
+ [
109
+ 0.27073552425665104,
110
+ 0.6137787056367432
111
+ ],
112
+ [
113
+ 0.2519561815336463,
114
+ 0.6137787056367432
115
+ ],
116
+ [
117
+ 0.24413145539906103,
118
+ 0.6116910229645094
119
+ ],
120
+ [
121
+ 0.23943661971830985,
122
+ 0.6096033402922756
123
+ ],
124
+ [
125
+ 0.23317683881064163,
126
+ 0.605427974947808
127
+ ],
128
+ [
129
+ 0.22535211267605634,
130
+ 0.5949895615866388
131
+ ],
132
+ [
133
+ 0.2237871674491393,
134
+ 0.5908141962421712
135
+ ],
136
+ [
137
+ 0.20970266040688576,
138
+ 0.48643006263048016
139
+ ],
140
+ [
141
+ 0.2081377151799687,
142
+ 0.47390396659707723
143
+ ]
144
+ ],
145
+ "visible_pixel_count": 5093
146
+ },
147
+ {
148
+ "body_id": 12,
149
+ "body_name": "plastic_cup_b",
150
+ "polygon_xy": [
151
+ [
152
+ 0.15336463223787167,
153
+ 0.4133611691022965
154
+ ],
155
+ [
156
+ 0.15492957746478872,
157
+ 0.40501043841336115
158
+ ],
159
+ [
160
+ 0.1596244131455399,
161
+ 0.3987473903966597
162
+ ],
163
+ [
164
+ 0.1643192488262911,
165
+ 0.3945720250521921
166
+ ],
167
+ [
168
+ 0.1705790297339593,
169
+ 0.3903966597077244
170
+ ],
171
+ [
172
+ 0.18935837245696402,
173
+ 0.38204592901878914
174
+ ],
175
+ [
176
+ 0.20500782472613457,
177
+ 0.37995824634655534
178
+ ],
179
+ [
180
+ 0.2190923317683881,
181
+ 0.37995824634655534
182
+ ],
183
+ [
184
+ 0.23161189358372458,
185
+ 0.38204592901878914
186
+ ],
187
+ [
188
+ 0.24100156494522693,
189
+ 0.3883089770354906
190
+ ],
191
+ [
192
+ 0.24413145539906103,
193
+ 0.3924843423799583
194
+ ],
195
+ [
196
+ 0.24569640062597808,
197
+ 0.3987473903966597
198
+ ],
199
+ [
200
+ 0.24882629107981222,
201
+ 0.4279749478079332
202
+ ],
203
+ [
204
+ 0.24882629107981222,
205
+ 0.4321503131524008
206
+ ],
207
+ [
208
+ 0.21752738654147105,
209
+ 0.5448851774530271
210
+ ],
211
+ [
212
+ 0.19092331768388107,
213
+ 0.5448851774530271
214
+ ],
215
+ [
216
+ 0.18466353677621283,
217
+ 0.5427974947807933
218
+ ],
219
+ [
220
+ 0.1784037558685446,
221
+ 0.5386221294363257
222
+ ],
223
+ [
224
+ 0.1705790297339593,
225
+ 0.5281837160751566
226
+ ],
227
+ [
228
+ 0.16588419405320814,
229
+ 0.4989561586638831
230
+ ],
231
+ [
232
+ 0.1596244131455399,
233
+ 0.4592901878914405
234
+ ],
235
+ [
236
+ 0.15336463223787167,
237
+ 0.4175365344467641
238
+ ]
239
+ ],
240
+ "visible_pixel_count": 3064
241
+ }
242
+ ],
243
+ "scenario": "two_cups",
244
+ "seed": 300166,
245
+ "split": "test",
246
+ "visible_instance_count": 2
247
+ }
dataset/truth/test/000300167.json ADDED
@@ -0,0 +1,100 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.28325508607198746,
10
+ 0.4342379958246347
11
+ ],
12
+ [
13
+ 0.2863849765258216,
14
+ 0.430062630480167
15
+ ],
16
+ [
17
+ 0.2942097026604069,
18
+ 0.42171189979123175
19
+ ],
20
+ [
21
+ 0.297339593114241,
22
+ 0.4196242171189979
23
+ ],
24
+ [
25
+ 0.3051643192488263,
26
+ 0.4154488517745303
27
+ ],
28
+ [
29
+ 0.3145539906103286,
30
+ 0.4112734864300626
31
+ ],
32
+ [
33
+ 0.3270735524256651,
34
+ 0.4091858037578288
35
+ ],
36
+ [
37
+ 0.3489827856025039,
38
+ 0.4091858037578288
39
+ ],
40
+ [
41
+ 0.350547730829421,
42
+ 0.4154488517745303
43
+ ],
44
+ [
45
+ 0.3615023474178404,
46
+ 0.5762004175365344
47
+ ],
48
+ [
49
+ 0.3615023474178404,
50
+ 0.5803757828810021
51
+ ],
52
+ [
53
+ 0.3568075117370892,
54
+ 0.5824634655532359
55
+ ],
56
+ [
57
+ 0.350547730829421,
58
+ 0.5845511482254697
59
+ ],
60
+ [
61
+ 0.3411580594679186,
62
+ 0.5866388308977035
63
+ ],
64
+ [
65
+ 0.325508607198748,
66
+ 0.5866388308977035
67
+ ],
68
+ [
69
+ 0.3161189358372457,
70
+ 0.5845511482254697
71
+ ],
72
+ [
73
+ 0.3114241001564945,
74
+ 0.5824634655532359
75
+ ],
76
+ [
77
+ 0.30203442879499215,
78
+ 0.5762004175365344
79
+ ],
80
+ [
81
+ 0.29577464788732394,
82
+ 0.5678496868475992
83
+ ],
84
+ [
85
+ 0.2942097026604069,
86
+ 0.5553235908141962
87
+ ],
88
+ [
89
+ 0.28325508607198746,
90
+ 0.44467640918580376
91
+ ]
92
+ ],
93
+ "visible_pixel_count": 3505
94
+ }
95
+ ],
96
+ "scenario": "cup_near_bottle",
97
+ "seed": 300167,
98
+ "split": "test",
99
+ "visible_instance_count": 1
100
+ }
dataset/truth/test/000300168.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300168,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300169.json ADDED
@@ -0,0 +1,136 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.2519561815336463,
10
+ 0.37160751565762007
11
+ ],
12
+ [
13
+ 0.2597809076682316,
14
+ 0.36325678496868474
15
+ ],
16
+ [
17
+ 0.2644757433489828,
18
+ 0.35908141962421714
19
+ ],
20
+ [
21
+ 0.27856025039123633,
22
+ 0.35281837160751567
23
+ ],
24
+ [
25
+ 0.28482003129890454,
26
+ 0.35073068893528186
27
+ ],
28
+ [
29
+ 0.3004694835680751,
30
+ 0.348643006263048
31
+ ],
32
+ [
33
+ 0.30985915492957744,
34
+ 0.348643006263048
35
+ ],
36
+ [
37
+ 0.323943661971831,
38
+ 0.35073068893528186
39
+ ],
40
+ [
41
+ 0.3286384976525822,
42
+ 0.35281837160751567
43
+ ],
44
+ [
45
+ 0.3395931142410016,
46
+ 0.35908141962421714
47
+ ],
48
+ [
49
+ 0.3427230046948357,
50
+ 0.37160751565762007
51
+ ],
52
+ [
53
+ 0.3442879499217527,
54
+ 0.3924843423799583
55
+ ],
56
+ [
57
+ 0.3489827856025039,
58
+ 0.4592901878914405
59
+ ],
60
+ [
61
+ 0.350547730829421,
62
+ 0.4822546972860125
63
+ ],
64
+ [
65
+ 0.350547730829421,
66
+ 0.48434237995824636
67
+ ],
68
+ [
69
+ 0.3474178403755869,
70
+ 0.4906054279749478
71
+ ],
72
+ [
73
+ 0.3395931142410016,
74
+ 0.5010438413361169
75
+ ],
76
+ [
77
+ 0.3302034428794992,
78
+ 0.5073068893528184
79
+ ],
80
+ [
81
+ 0.325508607198748,
82
+ 0.5093945720250522
83
+ ],
84
+ [
85
+ 0.3192488262910798,
86
+ 0.511482254697286
87
+ ],
88
+ [
89
+ 0.30985915492957744,
90
+ 0.5135699373695198
91
+ ],
92
+ [
93
+ 0.2895148669796557,
94
+ 0.5135699373695198
95
+ ],
96
+ [
97
+ 0.28169014084507044,
98
+ 0.511482254697286
99
+ ],
100
+ [
101
+ 0.27699530516431925,
102
+ 0.5093945720250522
103
+ ],
104
+ [
105
+ 0.27386541471048514,
106
+ 0.5073068893528184
107
+ ],
108
+ [
109
+ 0.26917057902973396,
110
+ 0.5031315240083507
111
+ ],
112
+ [
113
+ 0.26604068857589985,
114
+ 0.4989561586638831
115
+ ],
116
+ [
117
+ 0.2644757433489828,
118
+ 0.4906054279749478
119
+ ],
120
+ [
121
+ 0.25821596244131456,
122
+ 0.4342379958246347
123
+ ],
124
+ [
125
+ 0.2535211267605634,
126
+ 0.3903966597077244
127
+ ]
128
+ ],
129
+ "visible_pixel_count": 4204
130
+ }
131
+ ],
132
+ "scenario": "one_cup_distractors",
133
+ "seed": 300169,
134
+ "split": "test",
135
+ "visible_instance_count": 1
136
+ }
dataset/truth/test/000300170.json ADDED
@@ -0,0 +1,227 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.20657276995305165,
10
+ 0.3883089770354906
11
+ ],
12
+ [
13
+ 0.21283255086071987,
14
+ 0.38204592901878914
15
+ ],
16
+ [
17
+ 0.21752738654147105,
18
+ 0.3778705636743215
19
+ ],
20
+ [
21
+ 0.22065727699530516,
22
+ 0.3757828810020877
23
+ ],
24
+ [
25
+ 0.23943661971830985,
26
+ 0.3674321503131524
27
+ ],
28
+ [
29
+ 0.25508607198748046,
30
+ 0.3653444676409186
31
+ ],
32
+ [
33
+ 0.26917057902973396,
34
+ 0.3653444676409186
35
+ ],
36
+ [
37
+ 0.28169014084507044,
38
+ 0.3674321503131524
39
+ ],
40
+ [
41
+ 0.2863849765258216,
42
+ 0.3695198329853862
43
+ ],
44
+ [
45
+ 0.29264475743348983,
46
+ 0.3736951983298539
47
+ ],
48
+ [
49
+ 0.29577464788732394,
50
+ 0.3778705636743215
51
+ ],
52
+ [
53
+ 0.297339593114241,
54
+ 0.38413361169102295
55
+ ],
56
+ [
57
+ 0.30203442879499215,
58
+ 0.4342379958246347
59
+ ],
60
+ [
61
+ 0.30672926447574334,
62
+ 0.48643006263048016
63
+ ],
64
+ [
65
+ 0.30672926447574334,
66
+ 0.5031315240083507
67
+ ],
68
+ [
69
+ 0.3051643192488263,
70
+ 0.5073068893528184
71
+ ],
72
+ [
73
+ 0.297339593114241,
74
+ 0.5177453027139874
75
+ ],
76
+ [
77
+ 0.28482003129890454,
78
+ 0.5260960334029228
79
+ ],
80
+ [
81
+ 0.28012519561815336,
82
+ 0.5281837160751566
83
+ ],
84
+ [
85
+ 0.27386541471048514,
86
+ 0.5302713987473904
87
+ ],
88
+ [
89
+ 0.2644757433489828,
90
+ 0.5323590814196242
91
+ ],
92
+ [
93
+ 0.24569640062597808,
94
+ 0.5323590814196242
95
+ ],
96
+ [
97
+ 0.2378716744913928,
98
+ 0.5302713987473904
99
+ ],
100
+ [
101
+ 0.23317683881064163,
102
+ 0.5281837160751566
103
+ ],
104
+ [
105
+ 0.2269170579029734,
106
+ 0.524008350730689
107
+ ],
108
+ [
109
+ 0.2222222222222222,
110
+ 0.5177453027139874
111
+ ],
112
+ [
113
+ 0.22065727699530516,
114
+ 0.5135699373695198
115
+ ],
116
+ [
117
+ 0.21752738654147105,
118
+ 0.4906054279749478
119
+ ],
120
+ [
121
+ 0.2081377151799687,
122
+ 0.4196242171189979
123
+ ],
124
+ [
125
+ 0.20657276995305165,
126
+ 0.407098121085595
127
+ ]
128
+ ],
129
+ "visible_pixel_count": 4343
130
+ },
131
+ {
132
+ "body_id": 12,
133
+ "body_name": "plastic_cup_b",
134
+ "polygon_xy": [
135
+ [
136
+ 0.15492957746478872,
137
+ 0.36116910229645094
138
+ ],
139
+ [
140
+ 0.15805946791862285,
141
+ 0.3569937369519833
142
+ ],
143
+ [
144
+ 0.16588419405320814,
145
+ 0.35073068893528186
146
+ ],
147
+ [
148
+ 0.16901408450704225,
149
+ 0.348643006263048
150
+ ],
151
+ [
152
+ 0.1784037558685446,
153
+ 0.3444676409185804
154
+ ],
155
+ [
156
+ 0.19092331768388107,
157
+ 0.34029227557411273
158
+ ],
159
+ [
160
+ 0.20657276995305165,
161
+ 0.33820459290187893
162
+ ],
163
+ [
164
+ 0.21439749608763695,
165
+ 0.33820459290187893
166
+ ],
167
+ [
168
+ 0.22848200312989045,
169
+ 0.34029227557411273
170
+ ],
171
+ [
172
+ 0.24100156494522693,
173
+ 0.348643006263048
174
+ ],
175
+ [
176
+ 0.24256651017214398,
177
+ 0.35490605427974947
178
+ ],
179
+ [
180
+ 0.24256651017214398,
181
+ 0.3653444676409186
182
+ ],
183
+ [
184
+ 0.21752738654147105,
185
+ 0.49478079331941544
186
+ ],
187
+ [
188
+ 0.20970266040688576,
189
+ 0.4968684759916493
190
+ ],
191
+ [
192
+ 0.19405320813771518,
193
+ 0.4968684759916493
194
+ ],
195
+ [
196
+ 0.18622848200312989,
197
+ 0.49478079331941544
198
+ ],
199
+ [
200
+ 0.18153364632237873,
201
+ 0.49269311064718163
202
+ ],
203
+ [
204
+ 0.1784037558685446,
205
+ 0.4906054279749478
206
+ ],
207
+ [
208
+ 0.1705790297339593,
209
+ 0.4801670146137787
210
+ ],
211
+ [
212
+ 0.16588419405320814,
213
+ 0.4509394572025052
214
+ ],
215
+ [
216
+ 0.15492957746478872,
217
+ 0.3778705636743215
218
+ ]
219
+ ],
220
+ "visible_pixel_count": 2586
221
+ }
222
+ ],
223
+ "scenario": "two_cups",
224
+ "seed": 300170,
225
+ "split": "test",
226
+ "visible_instance_count": 2
227
+ }
dataset/truth/test/000300171.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.20500782472613457,
10
+ 0.3987473903966597
11
+ ],
12
+ [
13
+ 0.2112676056338028,
14
+ 0.3903966597077244
15
+ ],
16
+ [
17
+ 0.21752738654147105,
18
+ 0.38413361169102295
19
+ ],
20
+ [
21
+ 0.23630672926447574,
22
+ 0.3757828810020877
23
+ ],
24
+ [
25
+ 0.24726134585289514,
26
+ 0.3736951983298539
27
+ ],
28
+ [
29
+ 0.26134585289514867,
30
+ 0.37160751565762007
31
+ ],
32
+ [
33
+ 0.26291079812206575,
34
+ 0.3736951983298539
35
+ ],
36
+ [
37
+ 0.2644757433489828,
38
+ 0.38204592901878914
39
+ ],
40
+ [
41
+ 0.27230046948356806,
42
+ 0.4551148225469729
43
+ ],
44
+ [
45
+ 0.28012519561815336,
46
+ 0.5302713987473904
47
+ ],
48
+ [
49
+ 0.28012519561815336,
50
+ 0.5407098121085595
51
+ ],
52
+ [
53
+ 0.27386541471048514,
54
+ 0.5427974947807933
55
+ ],
56
+ [
57
+ 0.2644757433489828,
58
+ 0.5448851774530271
59
+ ],
60
+ [
61
+ 0.24726134585289514,
62
+ 0.5448851774530271
63
+ ],
64
+ [
65
+ 0.23943661971830985,
66
+ 0.5427974947807933
67
+ ],
68
+ [
69
+ 0.23317683881064163,
70
+ 0.5407098121085595
71
+ ],
72
+ [
73
+ 0.2269170579029734,
74
+ 0.5365344467640919
75
+ ],
76
+ [
77
+ 0.22065727699530516,
78
+ 0.5281837160751566
79
+ ],
80
+ [
81
+ 0.2190923317683881,
82
+ 0.5177453027139874
83
+ ],
84
+ [
85
+ 0.215962441314554,
86
+ 0.49478079331941544
87
+ ],
88
+ [
89
+ 0.20657276995305165,
90
+ 0.42379958246346555
91
+ ],
92
+ [
93
+ 0.20500782472613457,
94
+ 0.4112734864300626
95
+ ]
96
+ ],
97
+ "visible_pixel_count": 3061
98
+ }
99
+ ],
100
+ "scenario": "cup_near_bottle",
101
+ "seed": 300171,
102
+ "split": "test",
103
+ "visible_instance_count": 1
104
+ }
dataset/truth/test/000300172.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300172,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300173.json ADDED
@@ -0,0 +1,124 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.24413145539906103,
10
+ 0.3945720250521921
11
+ ],
12
+ [
13
+ 0.25039123630672927,
14
+ 0.3862212943632568
15
+ ],
16
+ [
17
+ 0.25508607198748046,
18
+ 0.38204592901878914
19
+ ],
20
+ [
21
+ 0.25821596244131456,
22
+ 0.37995824634655534
23
+ ],
24
+ [
25
+ 0.27230046948356806,
26
+ 0.3736951983298539
27
+ ],
28
+ [
29
+ 0.28169014084507044,
30
+ 0.37160751565762007
31
+ ],
32
+ [
33
+ 0.297339593114241,
34
+ 0.3695198329853862
35
+ ],
36
+ [
37
+ 0.29890453834115804,
38
+ 0.3695198329853862
39
+ ],
40
+ [
41
+ 0.3129890453834116,
42
+ 0.37160751565762007
43
+ ],
44
+ [
45
+ 0.3208137715179969,
46
+ 0.3736951983298539
47
+ ],
48
+ [
49
+ 0.3333333333333333,
50
+ 0.38204592901878914
51
+ ],
52
+ [
53
+ 0.3348982785602504,
54
+ 0.3903966597077244
55
+ ],
56
+ [
57
+ 0.3364632237871675,
58
+ 0.40083507306889354
59
+ ],
60
+ [
61
+ 0.3442879499217527,
62
+ 0.5073068893528184
63
+ ],
64
+ [
65
+ 0.3411580594679186,
66
+ 0.5156576200417536
67
+ ],
68
+ [
69
+ 0.3333333333333333,
70
+ 0.5260960334029228
71
+ ],
72
+ [
73
+ 0.3208137715179969,
74
+ 0.534446764091858
75
+ ],
76
+ [
77
+ 0.3161189358372457,
78
+ 0.5365344467640919
79
+ ],
80
+ [
81
+ 0.30985915492957744,
82
+ 0.5386221294363257
83
+ ],
84
+ [
85
+ 0.29890453834115804,
86
+ 0.5407098121085595
87
+ ],
88
+ [
89
+ 0.2863849765258216,
90
+ 0.5407098121085595
91
+ ],
92
+ [
93
+ 0.27543035993740217,
94
+ 0.5386221294363257
95
+ ],
96
+ [
97
+ 0.27073552425665104,
98
+ 0.5365344467640919
99
+ ],
100
+ [
101
+ 0.2644757433489828,
102
+ 0.5323590814196242
103
+ ],
104
+ [
105
+ 0.2566510172143975,
106
+ 0.5219206680584552
107
+ ],
108
+ [
109
+ 0.2535211267605634,
110
+ 0.4968684759916493
111
+ ],
112
+ [
113
+ 0.24413145539906103,
114
+ 0.4154488517745303
115
+ ]
116
+ ],
117
+ "visible_pixel_count": 4440
118
+ }
119
+ ],
120
+ "scenario": "one_cup_distractors",
121
+ "seed": 300173,
122
+ "split": "test",
123
+ "visible_instance_count": 1
124
+ }
dataset/truth/test/000300174.json ADDED
@@ -0,0 +1,255 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.2190923317683881,
10
+ 0.4279749478079332
11
+ ],
12
+ [
13
+ 0.2222222222222222,
14
+ 0.42379958246346555
15
+ ],
16
+ [
17
+ 0.2300469483568075,
18
+ 0.4154488517745303
19
+ ],
20
+ [
21
+ 0.23317683881064163,
22
+ 0.4133611691022965
23
+ ],
24
+ [
25
+ 0.2519561815336463,
26
+ 0.40501043841336115
27
+ ],
28
+ [
29
+ 0.26291079812206575,
30
+ 0.40292275574112735
31
+ ],
32
+ [
33
+ 0.27699530516431925,
34
+ 0.40083507306889354
35
+ ],
36
+ [
37
+ 0.27856025039123633,
38
+ 0.40083507306889354
39
+ ],
40
+ [
41
+ 0.29107981220657275,
42
+ 0.40292275574112735
43
+ ],
44
+ [
45
+ 0.3004694835680751,
46
+ 0.40501043841336115
47
+ ],
48
+ [
49
+ 0.3129890453834116,
50
+ 0.4133611691022965
51
+ ],
52
+ [
53
+ 0.3145539906103286,
54
+ 0.4154488517745303
55
+ ],
56
+ [
57
+ 0.3161189358372457,
58
+ 0.42588726513569936
59
+ ],
60
+ [
61
+ 0.31768388106416273,
62
+ 0.4405010438413361
63
+ ],
64
+ [
65
+ 0.325508607198748,
66
+ 0.534446764091858
67
+ ],
68
+ [
69
+ 0.325508607198748,
70
+ 0.5490605427974948
71
+ ],
72
+ [
73
+ 0.323943661971831,
74
+ 0.5532359081419624
75
+ ],
76
+ [
77
+ 0.3208137715179969,
78
+ 0.5594989561586639
79
+ ],
80
+ [
81
+ 0.31768388106416273,
82
+ 0.5636743215031316
83
+ ],
84
+ [
85
+ 0.3082942097026604,
86
+ 0.5720250521920668
87
+ ],
88
+ [
89
+ 0.3051643192488263,
90
+ 0.5741127348643006
91
+ ],
92
+ [
93
+ 0.29107981220657275,
94
+ 0.5803757828810021
95
+ ],
96
+ [
97
+ 0.28169014084507044,
98
+ 0.5824634655532359
99
+ ],
100
+ [
101
+ 0.25821596244131456,
102
+ 0.5824634655532359
103
+ ],
104
+ [
105
+ 0.2519561815336463,
106
+ 0.5803757828810021
107
+ ],
108
+ [
109
+ 0.24726134585289514,
110
+ 0.5782881002087683
111
+ ],
112
+ [
113
+ 0.24100156494522693,
114
+ 0.5741127348643006
115
+ ],
116
+ [
117
+ 0.2347417840375587,
118
+ 0.5657620041753654
119
+ ],
120
+ [
121
+ 0.23317683881064163,
122
+ 0.5615866388308977
123
+ ],
124
+ [
125
+ 0.23161189358372458,
126
+ 0.5511482254697286
127
+ ],
128
+ [
129
+ 0.22535211267605634,
130
+ 0.5031315240083507
131
+ ],
132
+ [
133
+ 0.2190923317683881,
134
+ 0.453027139874739
135
+ ]
136
+ ],
137
+ "visible_pixel_count": 5024
138
+ },
139
+ {
140
+ "body_id": 12,
141
+ "body_name": "plastic_cup_b",
142
+ "polygon_xy": [
143
+ [
144
+ 0.15492957746478872,
145
+ 0.38204592901878914
146
+ ],
147
+ [
148
+ 0.15805946791862285,
149
+ 0.3778705636743215
150
+ ],
151
+ [
152
+ 0.1674491392801252,
153
+ 0.3695198329853862
154
+ ],
155
+ [
156
+ 0.1705790297339593,
157
+ 0.3674321503131524
158
+ ],
159
+ [
160
+ 0.18622848200312989,
161
+ 0.36116910229645094
162
+ ],
163
+ [
164
+ 0.19561815336463223,
165
+ 0.35908141962421714
166
+ ],
167
+ [
168
+ 0.2112676056338028,
169
+ 0.3569937369519833
170
+ ],
171
+ [
172
+ 0.21439749608763695,
173
+ 0.3569937369519833
174
+ ],
175
+ [
176
+ 0.22848200312989045,
177
+ 0.35908141962421714
178
+ ],
179
+ [
180
+ 0.2347417840375587,
181
+ 0.36116910229645094
182
+ ],
183
+ [
184
+ 0.24413145539906103,
185
+ 0.3674321503131524
186
+ ],
187
+ [
188
+ 0.24569640062597808,
189
+ 0.3695198329853862
190
+ ],
191
+ [
192
+ 0.24882629107981222,
193
+ 0.3987473903966597
194
+ ],
195
+ [
196
+ 0.24882629107981222,
197
+ 0.40501043841336115
198
+ ],
199
+ [
200
+ 0.2269170579029734,
201
+ 0.5198329853862212
202
+ ],
203
+ [
204
+ 0.2222222222222222,
205
+ 0.5219206680584552
206
+ ],
207
+ [
208
+ 0.2112676056338028,
209
+ 0.524008350730689
210
+ ],
211
+ [
212
+ 0.19718309859154928,
213
+ 0.524008350730689
214
+ ],
215
+ [
216
+ 0.18779342723004694,
217
+ 0.5219206680584552
218
+ ],
219
+ [
220
+ 0.18309859154929578,
221
+ 0.5198329853862212
222
+ ],
223
+ [
224
+ 0.17996870109546165,
225
+ 0.5177453027139874
226
+ ],
227
+ [
228
+ 0.17214397496087636,
229
+ 0.5073068893528184
230
+ ],
231
+ [
232
+ 0.1705790297339593,
233
+ 0.5031315240083507
234
+ ],
235
+ [
236
+ 0.16588419405320814,
237
+ 0.47390396659707723
238
+ ],
239
+ [
240
+ 0.1564945226917058,
241
+ 0.4133611691022965
242
+ ],
243
+ [
244
+ 0.15492957746478872,
245
+ 0.40292275574112735
246
+ ]
247
+ ],
248
+ "visible_pixel_count": 3328
249
+ }
250
+ ],
251
+ "scenario": "two_cups",
252
+ "seed": 300174,
253
+ "split": "test",
254
+ "visible_instance_count": 2
255
+ }
dataset/truth/test/000300175.json ADDED
@@ -0,0 +1,100 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.23161189358372458,
10
+ 0.430062630480167
11
+ ],
12
+ [
13
+ 0.23630672926447574,
14
+ 0.42379958246346555
15
+ ],
16
+ [
17
+ 0.24413145539906103,
18
+ 0.4154488517745303
19
+ ],
20
+ [
21
+ 0.26291079812206575,
22
+ 0.407098121085595
23
+ ],
24
+ [
25
+ 0.27073552425665104,
26
+ 0.40501043841336115
27
+ ],
28
+ [
29
+ 0.2863849765258216,
30
+ 0.40292275574112735
31
+ ],
32
+ [
33
+ 0.29107981220657275,
34
+ 0.40292275574112735
35
+ ],
36
+ [
37
+ 0.29264475743348983,
38
+ 0.40501043841336115
39
+ ],
40
+ [
41
+ 0.2942097026604069,
42
+ 0.4175365344467641
43
+ ],
44
+ [
45
+ 0.30359937402190923,
46
+ 0.5177453027139874
47
+ ],
48
+ [
49
+ 0.3082942097026604,
50
+ 0.569937369519833
51
+ ],
52
+ [
53
+ 0.3082942097026604,
54
+ 0.5741127348643006
55
+ ],
56
+ [
57
+ 0.30672926447574334,
58
+ 0.5762004175365344
59
+ ],
60
+ [
61
+ 0.29890453834115804,
62
+ 0.5782881002087683
63
+ ],
64
+ [
65
+ 0.2895148669796557,
66
+ 0.5803757828810021
67
+ ],
68
+ [
69
+ 0.27386541471048514,
70
+ 0.5803757828810021
71
+ ],
72
+ [
73
+ 0.26604068857589985,
74
+ 0.5782881002087683
75
+ ],
76
+ [
77
+ 0.2597809076682316,
78
+ 0.5762004175365344
79
+ ],
80
+ [
81
+ 0.2535211267605634,
82
+ 0.5720250521920668
83
+ ],
84
+ [
85
+ 0.24569640062597808,
86
+ 0.5615866388308977
87
+ ],
88
+ [
89
+ 0.23161189358372458,
90
+ 0.4488517745302714
91
+ ]
92
+ ],
93
+ "visible_pixel_count": 3280
94
+ }
95
+ ],
96
+ "scenario": "cup_near_bottle",
97
+ "seed": 300175,
98
+ "split": "test",
99
+ "visible_instance_count": 1
100
+ }
dataset/truth/test/000300176.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300176,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300177.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.2519561815336463,
10
+ 0.4112734864300626
11
+ ],
12
+ [
13
+ 0.25508607198748046,
14
+ 0.407098121085595
15
+ ],
16
+ [
17
+ 0.26291079812206575,
18
+ 0.3987473903966597
19
+ ],
20
+ [
21
+ 0.26604068857589985,
22
+ 0.3966597077244259
23
+ ],
24
+ [
25
+ 0.28012519561815336,
26
+ 0.3903966597077244
27
+ ],
28
+ [
29
+ 0.28794992175273865,
30
+ 0.3883089770354906
31
+ ],
32
+ [
33
+ 0.30203442879499215,
34
+ 0.3862212943632568
35
+ ],
36
+ [
37
+ 0.30985915492957744,
38
+ 0.3862212943632568
39
+ ],
40
+ [
41
+ 0.323943661971831,
42
+ 0.3883089770354906
43
+ ],
44
+ [
45
+ 0.3302034428794992,
46
+ 0.3903966597077244
47
+ ],
48
+ [
49
+ 0.3395931142410016,
50
+ 0.3966597077244259
51
+ ],
52
+ [
53
+ 0.3411580594679186,
54
+ 0.3987473903966597
55
+ ],
56
+ [
57
+ 0.3427230046948357,
58
+ 0.40292275574112735
59
+ ],
60
+ [
61
+ 0.3442879499217527,
62
+ 0.4112734864300626
63
+ ],
64
+ [
65
+ 0.3458528951486698,
66
+ 0.430062630480167
67
+ ],
68
+ [
69
+ 0.3474178403755869,
70
+ 0.4509394572025052
71
+ ],
72
+ [
73
+ 0.352112676056338,
74
+ 0.5177453027139874
75
+ ],
76
+ [
77
+ 0.352112676056338,
78
+ 0.524008350730689
79
+ ],
80
+ [
81
+ 0.3489827856025039,
82
+ 0.5323590814196242
83
+ ],
84
+ [
85
+ 0.3411580594679186,
86
+ 0.5427974947807933
87
+ ],
88
+ [
89
+ 0.3364632237871675,
90
+ 0.5469728601252609
91
+ ],
92
+ [
93
+ 0.3333333333333333,
94
+ 0.5490605427974948
95
+ ],
96
+ [
97
+ 0.323943661971831,
98
+ 0.5532359081419624
99
+ ],
100
+ [
101
+ 0.31768388106416273,
102
+ 0.5553235908141962
103
+ ],
104
+ [
105
+ 0.3082942097026604,
106
+ 0.55741127348643
107
+ ],
108
+ [
109
+ 0.2942097026604069,
110
+ 0.55741127348643
111
+ ],
112
+ [
113
+ 0.28482003129890454,
114
+ 0.5553235908141962
115
+ ],
116
+ [
117
+ 0.27856025039123633,
118
+ 0.5532359081419624
119
+ ],
120
+ [
121
+ 0.27230046948356806,
122
+ 0.5490605427974948
123
+ ],
124
+ [
125
+ 0.26604068857589985,
126
+ 0.5407098121085595
127
+ ],
128
+ [
129
+ 0.2644757433489828,
130
+ 0.534446764091858
131
+ ],
132
+ [
133
+ 0.26291079812206575,
134
+ 0.5219206680584552
135
+ ],
136
+ [
137
+ 0.2535211267605634,
138
+ 0.4384133611691023
139
+ ],
140
+ [
141
+ 0.2519561815336463,
142
+ 0.42379958246346555
143
+ ]
144
+ ],
145
+ "visible_pixel_count": 4449
146
+ }
147
+ ],
148
+ "scenario": "one_cup_distractors",
149
+ "seed": 300177,
150
+ "split": "test",
151
+ "visible_instance_count": 1
152
+ }
dataset/truth/test/000300178.json ADDED
@@ -0,0 +1,259 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.27856025039123633,
10
+ 0.40083507306889354
11
+ ],
12
+ [
13
+ 0.28325508607198746,
14
+ 0.3945720250521921
15
+ ],
16
+ [
17
+ 0.2895148669796557,
18
+ 0.3883089770354906
19
+ ],
20
+ [
21
+ 0.3082942097026604,
22
+ 0.37995824634655534
23
+ ],
24
+ [
25
+ 0.3208137715179969,
26
+ 0.3778705636743215
27
+ ],
28
+ [
29
+ 0.3395931142410016,
30
+ 0.3778705636743215
31
+ ],
32
+ [
33
+ 0.350547730829421,
34
+ 0.37995824634655534
35
+ ],
36
+ [
37
+ 0.352112676056338,
38
+ 0.3945720250521921
39
+ ],
40
+ [
41
+ 0.3536776212832551,
42
+ 0.4175365344467641
43
+ ],
44
+ [
45
+ 0.35837245696400627,
46
+ 0.48851774530271397
47
+ ],
48
+ [
49
+ 0.3599374021909233,
50
+ 0.5135699373695198
51
+ ],
52
+ [
53
+ 0.3599374021909233,
54
+ 0.534446764091858
55
+ ],
56
+ [
57
+ 0.35837245696400627,
58
+ 0.5365344467640919
59
+ ],
60
+ [
61
+ 0.350547730829421,
62
+ 0.5407098121085595
63
+ ],
64
+ [
65
+ 0.3442879499217527,
66
+ 0.5427974947807933
67
+ ],
68
+ [
69
+ 0.3348982785602504,
70
+ 0.5448851774530271
71
+ ],
72
+ [
73
+ 0.3161189358372457,
74
+ 0.5448851774530271
75
+ ],
76
+ [
77
+ 0.3082942097026604,
78
+ 0.5427974947807933
79
+ ],
80
+ [
81
+ 0.30359937402190923,
82
+ 0.5407098121085595
83
+ ],
84
+ [
85
+ 0.297339593114241,
86
+ 0.5365344467640919
87
+ ],
88
+ [
89
+ 0.29107981220657275,
90
+ 0.5281837160751566
91
+ ],
92
+ [
93
+ 0.2895148669796557,
94
+ 0.5219206680584552
95
+ ],
96
+ [
97
+ 0.28794992175273865,
98
+ 0.5073068893528184
99
+ ],
100
+ [
101
+ 0.27856025039123633,
102
+ 0.4133611691022965
103
+ ]
104
+ ],
105
+ "visible_pixel_count": 3575
106
+ },
107
+ {
108
+ "body_id": 12,
109
+ "body_name": "plastic_cup_b",
110
+ "polygon_xy": [
111
+ [
112
+ 0.15492957746478872,
113
+ 0.407098121085595
114
+ ],
115
+ [
116
+ 0.1564945226917058,
117
+ 0.3987473903966597
118
+ ],
119
+ [
120
+ 0.162754303599374,
121
+ 0.3924843423799583
122
+ ],
123
+ [
124
+ 0.1674491392801252,
125
+ 0.3883089770354906
126
+ ],
127
+ [
128
+ 0.1705790297339593,
129
+ 0.3862212943632568
130
+ ],
131
+ [
132
+ 0.18466353677621283,
133
+ 0.37995824634655534
134
+ ],
135
+ [
136
+ 0.19092331768388107,
137
+ 0.3778705636743215
138
+ ],
139
+ [
140
+ 0.20344287949921752,
141
+ 0.3757828810020877
142
+ ],
143
+ [
144
+ 0.2237871674491393,
145
+ 0.3757828810020877
146
+ ],
147
+ [
148
+ 0.2347417840375587,
149
+ 0.3778705636743215
150
+ ],
151
+ [
152
+ 0.2378716744913928,
153
+ 0.37995824634655534
154
+ ],
155
+ [
156
+ 0.24569640062597808,
157
+ 0.3862212943632568
158
+ ],
159
+ [
160
+ 0.24726134585289514,
161
+ 0.3924843423799583
162
+ ],
163
+ [
164
+ 0.24882629107981222,
165
+ 0.40501043841336115
166
+ ],
167
+ [
168
+ 0.2566510172143975,
169
+ 0.47390396659707723
170
+ ],
171
+ [
172
+ 0.25821596244131456,
173
+ 0.48851774530271397
174
+ ],
175
+ [
176
+ 0.2597809076682316,
177
+ 0.5073068893528184
178
+ ],
179
+ [
180
+ 0.2597809076682316,
181
+ 0.511482254697286
182
+ ],
183
+ [
184
+ 0.2566510172143975,
185
+ 0.5177453027139874
186
+ ],
187
+ [
188
+ 0.2519561815336463,
189
+ 0.524008350730689
190
+ ],
191
+ [
192
+ 0.24726134585289514,
193
+ 0.5281837160751566
194
+ ],
195
+ [
196
+ 0.2378716744913928,
197
+ 0.534446764091858
198
+ ],
199
+ [
200
+ 0.22848200312989045,
201
+ 0.5386221294363257
202
+ ],
203
+ [
204
+ 0.2222222222222222,
205
+ 0.5407098121085595
206
+ ],
207
+ [
208
+ 0.20970266040688576,
209
+ 0.5427974947807933
210
+ ],
211
+ [
212
+ 0.20031298904538342,
213
+ 0.5427974947807933
214
+ ],
215
+ [
216
+ 0.19092331768388107,
217
+ 0.5407098121085595
218
+ ],
219
+ [
220
+ 0.18466353677621283,
221
+ 0.5386221294363257
222
+ ],
223
+ [
224
+ 0.1784037558685446,
225
+ 0.534446764091858
226
+ ],
227
+ [
228
+ 0.1752738654147105,
229
+ 0.5302713987473904
230
+ ],
231
+ [
232
+ 0.17214397496087636,
233
+ 0.524008350730689
234
+ ],
235
+ [
236
+ 0.1705790297339593,
237
+ 0.5156576200417536
238
+ ],
239
+ [
240
+ 0.1643192488262911,
241
+ 0.4759916492693111
242
+ ],
243
+ [
244
+ 0.1564945226917058,
245
+ 0.42588726513569936
246
+ ],
247
+ [
248
+ 0.15492957746478872,
249
+ 0.4154488517745303
250
+ ]
251
+ ],
252
+ "visible_pixel_count": 4397
253
+ }
254
+ ],
255
+ "scenario": "two_cups",
256
+ "seed": 300178,
257
+ "split": "test",
258
+ "visible_instance_count": 2
259
+ }
dataset/truth/test/000300179.json ADDED
@@ -0,0 +1,108 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.18779342723004694,
10
+ 0.4488517745302714
11
+ ],
12
+ [
13
+ 0.18935837245696402,
14
+ 0.4384133611691023
15
+ ],
16
+ [
17
+ 0.19561815336463223,
18
+ 0.430062630480167
19
+ ],
20
+ [
21
+ 0.20187793427230047,
22
+ 0.42379958246346555
23
+ ],
24
+ [
25
+ 0.2190923317683881,
26
+ 0.4154488517745303
27
+ ],
28
+ [
29
+ 0.22535211267605634,
30
+ 0.4133611691022965
31
+ ],
32
+ [
33
+ 0.23943661971830985,
34
+ 0.4112734864300626
35
+ ],
36
+ [
37
+ 0.24569640062597808,
38
+ 0.4112734864300626
39
+ ],
40
+ [
41
+ 0.24726134585289514,
42
+ 0.42379958246346555
43
+ ],
44
+ [
45
+ 0.26291079812206575,
46
+ 0.5594989561586639
47
+ ],
48
+ [
49
+ 0.2644757433489828,
50
+ 0.5741127348643006
51
+ ],
52
+ [
53
+ 0.2644757433489828,
54
+ 0.5824634655532359
55
+ ],
56
+ [
57
+ 0.26291079812206575,
58
+ 0.5845511482254697
59
+ ],
60
+ [
61
+ 0.2566510172143975,
62
+ 0.5866388308977035
63
+ ],
64
+ [
65
+ 0.24569640062597808,
66
+ 0.5887265135699373
67
+ ],
68
+ [
69
+ 0.2347417840375587,
70
+ 0.5887265135699373
71
+ ],
72
+ [
73
+ 0.22535211267605634,
74
+ 0.5866388308977035
75
+ ],
76
+ [
77
+ 0.215962441314554,
78
+ 0.5824634655532359
79
+ ],
80
+ [
81
+ 0.21283255086071987,
82
+ 0.5803757828810021
83
+ ],
84
+ [
85
+ 0.20500782472613457,
86
+ 0.569937369519833
87
+ ],
88
+ [
89
+ 0.20344287949921752,
90
+ 0.5615866388308977
91
+ ],
92
+ [
93
+ 0.20187793427230047,
94
+ 0.5511482254697286
95
+ ],
96
+ [
97
+ 0.18779342723004694,
98
+ 0.453027139874739
99
+ ]
100
+ ],
101
+ "visible_pixel_count": 3117
102
+ }
103
+ ],
104
+ "scenario": "cup_near_bottle",
105
+ "seed": 300179,
106
+ "split": "test",
107
+ "visible_instance_count": 1
108
+ }
dataset/truth/test/000300180.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300180,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300181.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.28794992175273865,
10
+ 0.4133611691022965
11
+ ],
12
+ [
13
+ 0.2895148669796557,
14
+ 0.4112734864300626
15
+ ],
16
+ [
17
+ 0.29890453834115804,
18
+ 0.40083507306889354
19
+ ],
20
+ [
21
+ 0.3114241001564945,
22
+ 0.3945720250521921
23
+ ],
24
+ [
25
+ 0.3161189358372457,
26
+ 0.3924843423799583
27
+ ],
28
+ [
29
+ 0.3270735524256651,
30
+ 0.3903966597077244
31
+ ],
32
+ [
33
+ 0.35524256651017216,
34
+ 0.3903966597077244
35
+ ],
36
+ [
37
+ 0.3646322378716745,
38
+ 0.3924843423799583
39
+ ],
40
+ [
41
+ 0.37402190923317685,
42
+ 0.3987473903966597
43
+ ],
44
+ [
45
+ 0.3755868544600939,
46
+ 0.40083507306889354
47
+ ],
48
+ [
49
+ 0.37715179968701096,
50
+ 0.4279749478079332
51
+ ],
52
+ [
53
+ 0.38028169014084506,
54
+ 0.48434237995824636
55
+ ],
56
+ [
57
+ 0.38184663536776214,
58
+ 0.5135699373695198
59
+ ],
60
+ [
61
+ 0.38184663536776214,
62
+ 0.5407098121085595
63
+ ],
64
+ [
65
+ 0.37715179968701096,
66
+ 0.5469728601252609
67
+ ],
68
+ [
69
+ 0.37245696400625977,
70
+ 0.5511482254697286
71
+ ],
72
+ [
73
+ 0.36619718309859156,
74
+ 0.5553235908141962
75
+ ],
76
+ [
77
+ 0.3615023474178404,
78
+ 0.55741127348643
79
+ ],
80
+ [
81
+ 0.35524256651017216,
82
+ 0.5594989561586639
83
+ ],
84
+ [
85
+ 0.3474178403755869,
86
+ 0.5615866388308977
87
+ ],
88
+ [
89
+ 0.325508607198748,
90
+ 0.5615866388308977
91
+ ],
92
+ [
93
+ 0.31768388106416273,
94
+ 0.5594989561586639
95
+ ],
96
+ [
97
+ 0.3129890453834116,
98
+ 0.55741127348643
99
+ ],
100
+ [
101
+ 0.30672926447574334,
102
+ 0.5532359081419624
103
+ ],
104
+ [
105
+ 0.3004694835680751,
106
+ 0.5448851774530271
107
+ ],
108
+ [
109
+ 0.29890453834115804,
110
+ 0.5365344467640919
111
+ ],
112
+ [
113
+ 0.297339593114241,
114
+ 0.5219206680584552
115
+ ],
116
+ [
117
+ 0.29107981220657275,
118
+ 0.4572025052192067
119
+ ],
120
+ [
121
+ 0.28794992175273865,
122
+ 0.42379958246346555
123
+ ]
124
+ ],
125
+ "visible_pixel_count": 4325
126
+ }
127
+ ],
128
+ "scenario": "one_cup_distractors",
129
+ "seed": 300181,
130
+ "split": "test",
131
+ "visible_instance_count": 1
132
+ }
dataset/truth/test/000300182.json ADDED
@@ -0,0 +1,227 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.2237871674491393,
10
+ 0.430062630480167
11
+ ],
12
+ [
13
+ 0.23161189358372458,
14
+ 0.4196242171189979
15
+ ],
16
+ [
17
+ 0.23630672926447574,
18
+ 0.4154488517745303
19
+ ],
20
+ [
21
+ 0.23943661971830985,
22
+ 0.4133611691022965
23
+ ],
24
+ [
25
+ 0.24726134585289514,
26
+ 0.4091858037578288
27
+ ],
28
+ [
29
+ 0.2566510172143975,
30
+ 0.40501043841336115
31
+ ],
32
+ [
33
+ 0.26604068857589985,
34
+ 0.40292275574112735
35
+ ],
36
+ [
37
+ 0.28169014084507044,
38
+ 0.40083507306889354
39
+ ],
40
+ [
41
+ 0.28794992175273865,
42
+ 0.40083507306889354
43
+ ],
44
+ [
45
+ 0.3004694835680751,
46
+ 0.40292275574112735
47
+ ],
48
+ [
49
+ 0.3082942097026604,
50
+ 0.40501043841336115
51
+ ],
52
+ [
53
+ 0.3208137715179969,
54
+ 0.4133611691022965
55
+ ],
56
+ [
57
+ 0.3223787167449139,
58
+ 0.4154488517745303
59
+ ],
60
+ [
61
+ 0.323943661971831,
62
+ 0.42588726513569936
63
+ ],
64
+ [
65
+ 0.325508607198748,
66
+ 0.4405010438413361
67
+ ],
68
+ [
69
+ 0.3302034428794992,
70
+ 0.4989561586638831
71
+ ],
72
+ [
73
+ 0.3333333333333333,
74
+ 0.5386221294363257
75
+ ],
76
+ [
77
+ 0.3333333333333333,
78
+ 0.5511482254697286
79
+ ],
80
+ [
81
+ 0.3317683881064163,
82
+ 0.55741127348643
83
+ ],
84
+ [
85
+ 0.3208137715179969,
86
+ 0.5720250521920668
87
+ ],
88
+ [
89
+ 0.3082942097026604,
90
+ 0.5803757828810021
91
+ ],
92
+ [
93
+ 0.30359937402190923,
94
+ 0.5824634655532359
95
+ ],
96
+ [
97
+ 0.297339593114241,
98
+ 0.5845511482254697
99
+ ],
100
+ [
101
+ 0.2895148669796557,
102
+ 0.5866388308977035
103
+ ],
104
+ [
105
+ 0.2644757433489828,
106
+ 0.5866388308977035
107
+ ],
108
+ [
109
+ 0.25821596244131456,
110
+ 0.5845511482254697
111
+ ],
112
+ [
113
+ 0.2535211267605634,
114
+ 0.5824634655532359
115
+ ],
116
+ [
117
+ 0.24726134585289514,
118
+ 0.5782881002087683
119
+ ],
120
+ [
121
+ 0.23943661971830985,
122
+ 0.5678496868475992
123
+ ],
124
+ [
125
+ 0.2378716744913928,
126
+ 0.5594989561586639
127
+ ],
128
+ [
129
+ 0.2269170579029734,
130
+ 0.47390396659707723
131
+ ],
132
+ [
133
+ 0.2237871674491393,
134
+ 0.4488517745302714
135
+ ]
136
+ ],
137
+ "visible_pixel_count": 5274
138
+ },
139
+ {
140
+ "body_id": 12,
141
+ "body_name": "plastic_cup_b",
142
+ "polygon_xy": [
143
+ [
144
+ 0.16118935837245696,
145
+ 0.36116910229645094
146
+ ],
147
+ [
148
+ 0.162754303599374,
149
+ 0.35073068893528186
150
+ ],
151
+ [
152
+ 0.17214397496087636,
153
+ 0.34237995824634654
154
+ ],
155
+ [
156
+ 0.1784037558685446,
157
+ 0.33820459290187893
158
+ ],
159
+ [
160
+ 0.18935837245696402,
161
+ 0.33402922755741127
162
+ ],
163
+ [
164
+ 0.19561815336463223,
165
+ 0.33194154488517746
166
+ ],
167
+ [
168
+ 0.20970266040688576,
169
+ 0.3298538622129436
170
+ ],
171
+ [
172
+ 0.2269170579029734,
173
+ 0.3298538622129436
174
+ ],
175
+ [
176
+ 0.2378716744913928,
177
+ 0.33194154488517746
178
+ ],
179
+ [
180
+ 0.25039123630672927,
181
+ 0.34029227557411273
182
+ ],
183
+ [
184
+ 0.2566510172143975,
185
+ 0.3987473903966597
186
+ ],
187
+ [
188
+ 0.2566510172143975,
189
+ 0.40292275574112735
190
+ ],
191
+ [
192
+ 0.22848200312989045,
193
+ 0.48643006263048016
194
+ ],
195
+ [
196
+ 0.2269170579029734,
197
+ 0.48851774530271397
198
+ ],
199
+ [
200
+ 0.19561815336463223,
201
+ 0.48851774530271397
202
+ ],
203
+ [
204
+ 0.18935837245696402,
205
+ 0.48643006263048016
206
+ ],
207
+ [
208
+ 0.18622848200312989,
209
+ 0.48434237995824636
210
+ ],
211
+ [
212
+ 0.1784037558685446,
213
+ 0.47390396659707723
214
+ ],
215
+ [
216
+ 0.17683881064162754,
217
+ 0.46555323590814196
218
+ ]
219
+ ],
220
+ "visible_pixel_count": 3334
221
+ }
222
+ ],
223
+ "scenario": "two_cups",
224
+ "seed": 300182,
225
+ "split": "test",
226
+ "visible_instance_count": 2
227
+ }
dataset/truth/test/000300183.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.215962441314554,
10
+ 0.4133611691022965
11
+ ],
12
+ [
13
+ 0.2237871674491393,
14
+ 0.40501043841336115
15
+ ],
16
+ [
17
+ 0.22848200312989045,
18
+ 0.40083507306889354
19
+ ],
20
+ [
21
+ 0.24726134585289514,
22
+ 0.3924843423799583
23
+ ],
24
+ [
25
+ 0.2566510172143975,
26
+ 0.3903966597077244
27
+ ],
28
+ [
29
+ 0.27073552425665104,
30
+ 0.3883089770354906
31
+ ],
32
+ [
33
+ 0.27230046948356806,
34
+ 0.3883089770354906
35
+ ],
36
+ [
37
+ 0.27386541471048514,
38
+ 0.3966597077244259
39
+ ],
40
+ [
41
+ 0.2863849765258216,
42
+ 0.5198329853862212
43
+ ],
44
+ [
45
+ 0.2895148669796557,
46
+ 0.5511482254697286
47
+ ],
48
+ [
49
+ 0.2863849765258216,
50
+ 0.5532359081419624
51
+ ],
52
+ [
53
+ 0.28012519561815336,
54
+ 0.5553235908141962
55
+ ],
56
+ [
57
+ 0.25039123630672927,
58
+ 0.5553235908141962
59
+ ],
60
+ [
61
+ 0.24413145539906103,
62
+ 0.5532359081419624
63
+ ],
64
+ [
65
+ 0.2378716744913928,
66
+ 0.5490605427974948
67
+ ],
68
+ [
69
+ 0.23161189358372458,
70
+ 0.5407098121085595
71
+ ],
72
+ [
73
+ 0.2300469483568075,
74
+ 0.5365344467640919
75
+ ],
76
+ [
77
+ 0.22848200312989045,
78
+ 0.5260960334029228
79
+ ],
80
+ [
81
+ 0.22065727699530516,
82
+ 0.46555323590814196
83
+ ],
84
+ [
85
+ 0.215962441314554,
86
+ 0.4279749478079332
87
+ ]
88
+ ],
89
+ "visible_pixel_count": 2891
90
+ }
91
+ ],
92
+ "scenario": "cup_near_bottle",
93
+ "seed": 300183,
94
+ "split": "test",
95
+ "visible_instance_count": 1
96
+ }
dataset/truth/test/000300184.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300184,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300185.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.27543035993740217,
10
+ 0.3945720250521921
11
+ ],
12
+ [
13
+ 0.28482003129890454,
14
+ 0.38204592901878914
15
+ ],
16
+ [
17
+ 0.28794992175273865,
18
+ 0.37995824634655534
19
+ ],
20
+ [
21
+ 0.29577464788732394,
22
+ 0.3757828810020877
23
+ ],
24
+ [
25
+ 0.3051643192488263,
26
+ 0.37160751565762007
27
+ ],
28
+ [
29
+ 0.31768388106416273,
30
+ 0.3695198329853862
31
+ ],
32
+ [
33
+ 0.3442879499217527,
34
+ 0.3695198329853862
35
+ ],
36
+ [
37
+ 0.3536776212832551,
38
+ 0.37160751565762007
39
+ ],
40
+ [
41
+ 0.36619718309859156,
42
+ 0.37995824634655534
43
+ ],
44
+ [
45
+ 0.3677621283255086,
46
+ 0.38204592901878914
47
+ ],
48
+ [
49
+ 0.36932707355242567,
50
+ 0.3862212943632568
51
+ ],
52
+ [
53
+ 0.37089201877934275,
54
+ 0.3924843423799583
55
+ ],
56
+ [
57
+ 0.37245696400625977,
58
+ 0.4154488517745303
59
+ ],
60
+ [
61
+ 0.37715179968701096,
62
+ 0.4968684759916493
63
+ ],
64
+ [
65
+ 0.37715179968701096,
66
+ 0.511482254697286
67
+ ],
68
+ [
69
+ 0.37402190923317685,
70
+ 0.5198329853862212
71
+ ],
72
+ [
73
+ 0.36619718309859156,
74
+ 0.5302713987473904
75
+ ],
76
+ [
77
+ 0.3568075117370892,
78
+ 0.5365344467640919
79
+ ],
80
+ [
81
+ 0.3474178403755869,
82
+ 0.5407098121085595
83
+ ],
84
+ [
85
+ 0.3411580594679186,
86
+ 0.5427974947807933
87
+ ],
88
+ [
89
+ 0.3114241001564945,
90
+ 0.5427974947807933
91
+ ],
92
+ [
93
+ 0.3051643192488263,
94
+ 0.5407098121085595
95
+ ],
96
+ [
97
+ 0.3004694835680751,
98
+ 0.5386221294363257
99
+ ],
100
+ [
101
+ 0.297339593114241,
102
+ 0.5365344467640919
103
+ ],
104
+ [
105
+ 0.29107981220657275,
106
+ 0.5302713987473904
107
+ ],
108
+ [
109
+ 0.28794992175273865,
110
+ 0.5219206680584552
111
+ ],
112
+ [
113
+ 0.2863849765258216,
114
+ 0.5073068893528184
115
+ ],
116
+ [
117
+ 0.28169014084507044,
118
+ 0.4613778705636743
119
+ ],
120
+ [
121
+ 0.27543035993740217,
122
+ 0.3987473903966597
123
+ ]
124
+ ],
125
+ "visible_pixel_count": 4682
126
+ }
127
+ ],
128
+ "scenario": "one_cup_distractors",
129
+ "seed": 300185,
130
+ "split": "test",
131
+ "visible_instance_count": 1
132
+ }
dataset/truth/test/000300186.json ADDED
@@ -0,0 +1,271 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.21439749608763695,
10
+ 0.4321503131524008
11
+ ],
12
+ [
13
+ 0.215962441314554,
14
+ 0.430062630480167
15
+ ],
16
+ [
17
+ 0.22535211267605634,
18
+ 0.4196242171189979
19
+ ],
20
+ [
21
+ 0.23161189358372458,
22
+ 0.4154488517745303
23
+ ],
24
+ [
25
+ 0.24569640062597808,
26
+ 0.4091858037578288
27
+ ],
28
+ [
29
+ 0.2519561815336463,
30
+ 0.407098121085595
31
+ ],
32
+ [
33
+ 0.2676056338028169,
34
+ 0.40501043841336115
35
+ ],
36
+ [
37
+ 0.27856025039123633,
38
+ 0.40501043841336115
39
+ ],
40
+ [
41
+ 0.29107981220657275,
42
+ 0.407098121085595
43
+ ],
44
+ [
45
+ 0.297339593114241,
46
+ 0.4091858037578288
47
+ ],
48
+ [
49
+ 0.3004694835680751,
50
+ 0.4112734864300626
51
+ ],
52
+ [
53
+ 0.3082942097026604,
54
+ 0.4175365344467641
55
+ ],
56
+ [
57
+ 0.30985915492957744,
58
+ 0.42171189979123175
59
+ ],
60
+ [
61
+ 0.3114241001564945,
62
+ 0.4321503131524008
63
+ ],
64
+ [
65
+ 0.31768388106416273,
66
+ 0.5052192066805845
67
+ ],
68
+ [
69
+ 0.3208137715179969,
70
+ 0.5427974947807933
71
+ ],
72
+ [
73
+ 0.3208137715179969,
74
+ 0.5490605427974948
75
+ ],
76
+ [
77
+ 0.3192488262910798,
78
+ 0.5532359081419624
79
+ ],
80
+ [
81
+ 0.3161189358372457,
82
+ 0.5594989561586639
83
+ ],
84
+ [
85
+ 0.3129890453834116,
86
+ 0.5636743215031316
87
+ ],
88
+ [
89
+ 0.30359937402190923,
90
+ 0.5720250521920668
91
+ ],
92
+ [
93
+ 0.3004694835680751,
94
+ 0.5741127348643006
95
+ ],
96
+ [
97
+ 0.29107981220657275,
98
+ 0.5782881002087683
99
+ ],
100
+ [
101
+ 0.28482003129890454,
102
+ 0.5803757828810021
103
+ ],
104
+ [
105
+ 0.27699530516431925,
106
+ 0.5824634655532359
107
+ ],
108
+ [
109
+ 0.25508607198748046,
110
+ 0.5824634655532359
111
+ ],
112
+ [
113
+ 0.24256651017214398,
114
+ 0.5782881002087683
115
+ ],
116
+ [
117
+ 0.2378716744913928,
118
+ 0.5741127348643006
119
+ ],
120
+ [
121
+ 0.2300469483568075,
122
+ 0.5636743215031316
123
+ ],
124
+ [
125
+ 0.2269170579029734,
126
+ 0.5427974947807933
127
+ ],
128
+ [
129
+ 0.2222222222222222,
130
+ 0.5073068893528184
131
+ ],
132
+ [
133
+ 0.215962441314554,
134
+ 0.4592901878914405
135
+ ],
136
+ [
137
+ 0.21439749608763695,
138
+ 0.44676409185803756
139
+ ]
140
+ ],
141
+ "visible_pixel_count": 4841
142
+ },
143
+ {
144
+ "body_id": 12,
145
+ "body_name": "plastic_cup_b",
146
+ "polygon_xy": [
147
+ [
148
+ 0.11737089201877934,
149
+ 0.40083507306889354
150
+ ],
151
+ [
152
+ 0.1189358372456964,
153
+ 0.3924843423799583
154
+ ],
155
+ [
156
+ 0.12050078247261346,
157
+ 0.3903966597077244
158
+ ],
159
+ [
160
+ 0.1298904538341158,
161
+ 0.38204592901878914
162
+ ],
163
+ [
164
+ 0.13302034428794993,
165
+ 0.37995824634655534
166
+ ],
167
+ [
168
+ 0.14710485133020346,
169
+ 0.3736951983298539
170
+ ],
171
+ [
172
+ 0.15336463223787167,
173
+ 0.37160751565762007
174
+ ],
175
+ [
176
+ 0.162754303599374,
177
+ 0.3695198329853862
178
+ ],
179
+ [
180
+ 0.19092331768388107,
181
+ 0.3695198329853862
182
+ ],
183
+ [
184
+ 0.19874804381846636,
185
+ 0.37160751565762007
186
+ ],
187
+ [
188
+ 0.20500782472613457,
189
+ 0.3757828810020877
190
+ ],
191
+ [
192
+ 0.20970266040688576,
193
+ 0.37995824634655534
194
+ ],
195
+ [
196
+ 0.2112676056338028,
197
+ 0.3903966597077244
198
+ ],
199
+ [
200
+ 0.215962441314554,
201
+ 0.4279749478079332
202
+ ],
203
+ [
204
+ 0.22065727699530516,
205
+ 0.4968684759916493
206
+ ],
207
+ [
208
+ 0.22065727699530516,
209
+ 0.5093945720250522
210
+ ],
211
+ [
212
+ 0.215962441314554,
213
+ 0.5156576200417536
214
+ ],
215
+ [
216
+ 0.2112676056338028,
217
+ 0.5198329853862212
218
+ ],
219
+ [
220
+ 0.20187793427230047,
221
+ 0.5260960334029228
222
+ ],
223
+ [
224
+ 0.19718309859154928,
225
+ 0.5281837160751566
226
+ ],
227
+ [
228
+ 0.18466353677621283,
229
+ 0.5323590814196242
230
+ ],
231
+ [
232
+ 0.15336463223787167,
233
+ 0.5323590814196242
234
+ ],
235
+ [
236
+ 0.1486697965571205,
237
+ 0.5302713987473904
238
+ ],
239
+ [
240
+ 0.14241001564945227,
241
+ 0.5260960334029228
242
+ ],
243
+ [
244
+ 0.13928012519561817,
245
+ 0.5219206680584552
246
+ ],
247
+ [
248
+ 0.13615023474178403,
249
+ 0.5156576200417536
250
+ ],
251
+ [
252
+ 0.13302034428794993,
253
+ 0.4989561586638831
254
+ ],
255
+ [
256
+ 0.1189358372456964,
257
+ 0.4175365344467641
258
+ ],
259
+ [
260
+ 0.11737089201877934,
261
+ 0.407098121085595
262
+ ]
263
+ ],
264
+ "visible_pixel_count": 4289
265
+ }
266
+ ],
267
+ "scenario": "two_cups",
268
+ "seed": 300186,
269
+ "split": "test",
270
+ "visible_instance_count": 2
271
+ }
dataset/truth/test/000300187.json ADDED
@@ -0,0 +1,100 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.1705790297339593,
10
+ 0.4509394572025052
11
+ ],
12
+ [
13
+ 0.17214397496087636,
14
+ 0.4405010438413361
15
+ ],
16
+ [
17
+ 0.17370892018779344,
18
+ 0.4384133611691023
19
+ ],
20
+ [
21
+ 0.18153364632237873,
22
+ 0.430062630480167
23
+ ],
24
+ [
25
+ 0.18622848200312989,
26
+ 0.42588726513569936
27
+ ],
28
+ [
29
+ 0.20500782472613457,
30
+ 0.4175365344467641
31
+ ],
32
+ [
33
+ 0.2112676056338028,
34
+ 0.4154488517745303
35
+ ],
36
+ [
37
+ 0.2269170579029734,
38
+ 0.4133611691022965
39
+ ],
40
+ [
41
+ 0.22848200312989045,
42
+ 0.4175365344467641
43
+ ],
44
+ [
45
+ 0.24413145539906103,
46
+ 0.5448851774530271
47
+ ],
48
+ [
49
+ 0.24882629107981222,
50
+ 0.5845511482254697
51
+ ],
52
+ [
53
+ 0.24882629107981222,
54
+ 0.5887265135699373
55
+ ],
56
+ [
57
+ 0.24569640062597808,
58
+ 0.5908141962421712
59
+ ],
60
+ [
61
+ 0.23943661971830985,
62
+ 0.592901878914405
63
+ ],
64
+ [
65
+ 0.20970266040688576,
66
+ 0.592901878914405
67
+ ],
68
+ [
69
+ 0.20031298904538342,
70
+ 0.5887265135699373
71
+ ],
72
+ [
73
+ 0.19561815336463223,
74
+ 0.5845511482254697
75
+ ],
76
+ [
77
+ 0.18935837245696402,
78
+ 0.5762004175365344
79
+ ],
80
+ [
81
+ 0.18779342723004694,
82
+ 0.569937369519833
83
+ ],
84
+ [
85
+ 0.18622848200312989,
86
+ 0.5615866388308977
87
+ ],
88
+ [
89
+ 0.1705790297339593,
90
+ 0.4572025052192067
91
+ ]
92
+ ],
93
+ "visible_pixel_count": 3162
94
+ }
95
+ ],
96
+ "scenario": "cup_near_bottle",
97
+ "seed": 300187,
98
+ "split": "test",
99
+ "visible_instance_count": 1
100
+ }
dataset/truth/test/000300188.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300188,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300189.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.22065727699530516,
10
+ 0.44467640918580376
11
+ ],
12
+ [
13
+ 0.2269170579029734,
14
+ 0.4363256784968685
15
+ ],
16
+ [
17
+ 0.23317683881064163,
18
+ 0.430062630480167
19
+ ],
20
+ [
21
+ 0.25039123630672927,
22
+ 0.42171189979123175
23
+ ],
24
+ [
25
+ 0.2566510172143975,
26
+ 0.4196242171189979
27
+ ],
28
+ [
29
+ 0.27073552425665104,
30
+ 0.4175365344467641
31
+ ],
32
+ [
33
+ 0.2863849765258216,
34
+ 0.4175365344467641
35
+ ],
36
+ [
37
+ 0.3004694835680751,
38
+ 0.4196242171189979
39
+ ],
40
+ [
41
+ 0.3129890453834116,
42
+ 0.4279749478079332
43
+ ],
44
+ [
45
+ 0.3161189358372457,
46
+ 0.4321503131524008
47
+ ],
48
+ [
49
+ 0.31768388106416273,
50
+ 0.44258872651356995
51
+ ],
52
+ [
53
+ 0.3192488262910798,
54
+ 0.4592901878914405
55
+ ],
56
+ [
57
+ 0.3270735524256651,
58
+ 0.5532359081419624
59
+ ],
60
+ [
61
+ 0.3270735524256651,
62
+ 0.5636743215031316
63
+ ],
64
+ [
65
+ 0.325508607198748,
66
+ 0.5678496868475992
67
+ ],
68
+ [
69
+ 0.3223787167449139,
70
+ 0.5741127348643006
71
+ ],
72
+ [
73
+ 0.31768388106416273,
74
+ 0.5803757828810021
75
+ ],
76
+ [
77
+ 0.3129890453834116,
78
+ 0.5845511482254697
79
+ ],
80
+ [
81
+ 0.30359937402190923,
82
+ 0.5908141962421712
83
+ ],
84
+ [
85
+ 0.2942097026604069,
86
+ 0.5949895615866388
87
+ ],
88
+ [
89
+ 0.28794992175273865,
90
+ 0.5970772442588727
91
+ ],
92
+ [
93
+ 0.2566510172143975,
94
+ 0.5970772442588727
95
+ ],
96
+ [
97
+ 0.24726134585289514,
98
+ 0.592901878914405
99
+ ],
100
+ [
101
+ 0.24256651017214398,
102
+ 0.5887265135699373
103
+ ],
104
+ [
105
+ 0.23630672926447574,
106
+ 0.5803757828810021
107
+ ],
108
+ [
109
+ 0.2347417840375587,
110
+ 0.5762004175365344
111
+ ],
112
+ [
113
+ 0.23161189358372458,
114
+ 0.5532359081419624
115
+ ],
116
+ [
117
+ 0.22535211267605634,
118
+ 0.5052192066805845
119
+ ],
120
+ [
121
+ 0.22065727699530516,
122
+ 0.46764091858037576
123
+ ]
124
+ ],
125
+ "visible_pixel_count": 4990
126
+ }
127
+ ],
128
+ "scenario": "one_cup_distractors",
129
+ "seed": 300189,
130
+ "split": "test",
131
+ "visible_instance_count": 1
132
+ }
dataset/truth/test/000300190.json ADDED
@@ -0,0 +1,239 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.19718309859154928,
10
+ 0.4384133611691023
11
+ ],
12
+ [
13
+ 0.19874804381846636,
14
+ 0.4279749478079332
15
+ ],
16
+ [
17
+ 0.20031298904538342,
18
+ 0.42588726513569936
19
+ ],
20
+ [
21
+ 0.20657276995305165,
22
+ 0.4196242171189979
23
+ ],
24
+ [
25
+ 0.2112676056338028,
26
+ 0.4154488517745303
27
+ ],
28
+ [
29
+ 0.2237871674491393,
30
+ 0.4091858037578288
31
+ ],
32
+ [
33
+ 0.22848200312989045,
34
+ 0.407098121085595
35
+ ],
36
+ [
37
+ 0.23630672926447574,
38
+ 0.40501043841336115
39
+ ],
40
+ [
41
+ 0.2519561815336463,
42
+ 0.40292275574112735
43
+ ],
44
+ [
45
+ 0.25821596244131456,
46
+ 0.40292275574112735
47
+ ],
48
+ [
49
+ 0.27230046948356806,
50
+ 0.40501043841336115
51
+ ],
52
+ [
53
+ 0.27856025039123633,
54
+ 0.407098121085595
55
+ ],
56
+ [
57
+ 0.2895148669796557,
58
+ 0.4154488517745303
59
+ ],
60
+ [
61
+ 0.29107981220657275,
62
+ 0.42588726513569936
63
+ ],
64
+ [
65
+ 0.297339593114241,
66
+ 0.4906054279749478
67
+ ],
68
+ [
69
+ 0.30203442879499215,
70
+ 0.5407098121085595
71
+ ],
72
+ [
73
+ 0.29890453834115804,
74
+ 0.5490605427974948
75
+ ],
76
+ [
77
+ 0.29107981220657275,
78
+ 0.5594989561586639
79
+ ],
80
+ [
81
+ 0.2863849765258216,
82
+ 0.5636743215031316
83
+ ],
84
+ [
85
+ 0.28325508607198746,
86
+ 0.5657620041753654
87
+ ],
88
+ [
89
+ 0.27543035993740217,
90
+ 0.569937369519833
91
+ ],
92
+ [
93
+ 0.27073552425665104,
94
+ 0.5720250521920668
95
+ ],
96
+ [
97
+ 0.26291079812206575,
98
+ 0.5741127348643006
99
+ ],
100
+ [
101
+ 0.23317683881064163,
102
+ 0.5741127348643006
103
+ ],
104
+ [
105
+ 0.2237871674491393,
106
+ 0.569937369519833
107
+ ],
108
+ [
109
+ 0.2190923317683881,
110
+ 0.5657620041753654
111
+ ],
112
+ [
113
+ 0.21439749608763695,
114
+ 0.5594989561586639
115
+ ],
116
+ [
117
+ 0.21283255086071987,
118
+ 0.5553235908141962
119
+ ],
120
+ [
121
+ 0.20970266040688576,
122
+ 0.534446764091858
123
+ ],
124
+ [
125
+ 0.20187793427230047,
126
+ 0.4780793319415449
127
+ ],
128
+ [
129
+ 0.19874804381846636,
130
+ 0.4551148225469729
131
+ ],
132
+ [
133
+ 0.19718309859154928,
134
+ 0.44258872651356995
135
+ ]
136
+ ],
137
+ "visible_pixel_count": 4004
138
+ },
139
+ {
140
+ "body_id": 12,
141
+ "body_name": "plastic_cup_b",
142
+ "polygon_xy": [
143
+ [
144
+ 0.16588419405320814,
145
+ 0.4112734864300626
146
+ ],
147
+ [
148
+ 0.1674491392801252,
149
+ 0.407098121085595
150
+ ],
151
+ [
152
+ 0.1705790297339593,
153
+ 0.40292275574112735
154
+ ],
155
+ [
156
+ 0.17683881064162754,
157
+ 0.3966597077244259
158
+ ],
159
+ [
160
+ 0.17996870109546165,
161
+ 0.3945720250521921
162
+ ],
163
+ [
164
+ 0.19874804381846636,
165
+ 0.3862212943632568
166
+ ],
167
+ [
168
+ 0.2081377151799687,
169
+ 0.38413361169102295
170
+ ],
171
+ [
172
+ 0.23630672926447574,
173
+ 0.38413361169102295
174
+ ],
175
+ [
176
+ 0.24413145539906103,
177
+ 0.3862212943632568
178
+ ],
179
+ [
180
+ 0.2535211267605634,
181
+ 0.3924843423799583
182
+ ],
183
+ [
184
+ 0.25508607198748046,
185
+ 0.3945720250521921
186
+ ],
187
+ [
188
+ 0.2566510172143975,
189
+ 0.40083507306889354
190
+ ],
191
+ [
192
+ 0.26134585289514867,
193
+ 0.44676409185803756
194
+ ],
195
+ [
196
+ 0.26134585289514867,
197
+ 0.4488517745302714
198
+ ],
199
+ [
200
+ 0.2112676056338028,
201
+ 0.5490605427974948
202
+ ],
203
+ [
204
+ 0.20970266040688576,
205
+ 0.5490605427974948
206
+ ],
207
+ [
208
+ 0.20031298904538342,
209
+ 0.5469728601252609
210
+ ],
211
+ [
212
+ 0.19561815336463223,
213
+ 0.5448851774530271
214
+ ],
215
+ [
216
+ 0.18935837245696402,
217
+ 0.5407098121085595
218
+ ],
219
+ [
220
+ 0.18309859154929578,
221
+ 0.5323590814196242
222
+ ],
223
+ [
224
+ 0.18153364632237873,
225
+ 0.5281837160751566
226
+ ],
227
+ [
228
+ 0.16588419405320814,
229
+ 0.42379958246346555
230
+ ]
231
+ ],
232
+ "visible_pixel_count": 2327
233
+ }
234
+ ],
235
+ "scenario": "two_cups",
236
+ "seed": 300190,
237
+ "split": "test",
238
+ "visible_instance_count": 2
239
+ }
dataset/truth/test/000300191.json ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.25821596244131456,
10
+ 0.44258872651356995
11
+ ],
12
+ [
13
+ 0.26917057902973396,
14
+ 0.4279749478079332
15
+ ],
16
+ [
17
+ 0.27230046948356806,
18
+ 0.42588726513569936
19
+ ],
20
+ [
21
+ 0.2895148669796557,
22
+ 0.4175365344467641
23
+ ],
24
+ [
25
+ 0.3004694835680751,
26
+ 0.4154488517745303
27
+ ],
28
+ [
29
+ 0.3145539906103286,
30
+ 0.4133611691022965
31
+ ],
32
+ [
33
+ 0.31768388106416273,
34
+ 0.4133611691022965
35
+ ],
36
+ [
37
+ 0.323943661971831,
38
+ 0.4154488517745303
39
+ ],
40
+ [
41
+ 0.325508607198748,
42
+ 0.4279749478079332
43
+ ],
44
+ [
45
+ 0.3270735524256651,
46
+ 0.44676409185803756
47
+ ],
48
+ [
49
+ 0.3364632237871675,
50
+ 0.5657620041753654
51
+ ],
52
+ [
53
+ 0.3380281690140845,
54
+ 0.5866388308977035
55
+ ],
56
+ [
57
+ 0.3380281690140845,
58
+ 0.5887265135699373
59
+ ],
60
+ [
61
+ 0.3333333333333333,
62
+ 0.5908141962421712
63
+ ],
64
+ [
65
+ 0.3270735524256651,
66
+ 0.592901878914405
67
+ ],
68
+ [
69
+ 0.31768388106416273,
70
+ 0.5949895615866388
71
+ ],
72
+ [
73
+ 0.30203442879499215,
74
+ 0.5949895615866388
75
+ ],
76
+ [
77
+ 0.2942097026604069,
78
+ 0.592901878914405
79
+ ],
80
+ [
81
+ 0.28794992175273865,
82
+ 0.5908141962421712
83
+ ],
84
+ [
85
+ 0.28169014084507044,
86
+ 0.5866388308977035
87
+ ],
88
+ [
89
+ 0.27543035993740217,
90
+ 0.5803757828810021
91
+ ],
92
+ [
93
+ 0.27230046948356806,
94
+ 0.5741127348643006
95
+ ],
96
+ [
97
+ 0.27073552425665104,
98
+ 0.5615866388308977
99
+ ],
100
+ [
101
+ 0.26604068857589985,
102
+ 0.5198329853862212
103
+ ],
104
+ [
105
+ 0.2597809076682316,
106
+ 0.46346555323590816
107
+ ]
108
+ ],
109
+ "visible_pixel_count": 3519
110
+ }
111
+ ],
112
+ "scenario": "cup_near_bottle",
113
+ "seed": 300191,
114
+ "split": "test",
115
+ "visible_instance_count": 1
116
+ }
dataset/truth/test/000300192.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300192,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300193.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.23161189358372458,
10
+ 0.4405010438413361
11
+ ],
12
+ [
13
+ 0.24100156494522693,
14
+ 0.4279749478079332
15
+ ],
16
+ [
17
+ 0.24726134585289514,
18
+ 0.42379958246346555
19
+ ],
20
+ [
21
+ 0.2597809076682316,
22
+ 0.4175365344467641
23
+ ],
24
+ [
25
+ 0.2644757433489828,
26
+ 0.4154488517745303
27
+ ],
28
+ [
29
+ 0.27699530516431925,
30
+ 0.4133611691022965
31
+ ],
32
+ [
33
+ 0.3004694835680751,
34
+ 0.4133611691022965
35
+ ],
36
+ [
37
+ 0.3114241001564945,
38
+ 0.4154488517745303
39
+ ],
40
+ [
41
+ 0.323943661971831,
42
+ 0.42379958246346555
43
+ ],
44
+ [
45
+ 0.3270735524256651,
46
+ 0.4279749478079332
47
+ ],
48
+ [
49
+ 0.3286384976525822,
50
+ 0.4384133611691023
51
+ ],
52
+ [
53
+ 0.3302034428794992,
54
+ 0.4551148225469729
55
+ ],
56
+ [
57
+ 0.3317683881064163,
58
+ 0.47390396659707723
59
+ ],
60
+ [
61
+ 0.3364632237871675,
62
+ 0.534446764091858
63
+ ],
64
+ [
65
+ 0.3380281690140845,
66
+ 0.5553235908141962
67
+ ],
68
+ [
69
+ 0.3380281690140845,
70
+ 0.55741127348643
71
+ ],
72
+ [
73
+ 0.3348982785602504,
74
+ 0.5657620041753654
75
+ ],
76
+ [
77
+ 0.325508607198748,
78
+ 0.5782881002087683
79
+ ],
80
+ [
81
+ 0.3129890453834116,
82
+ 0.5866388308977035
83
+ ],
84
+ [
85
+ 0.3082942097026604,
86
+ 0.5887265135699373
87
+ ],
88
+ [
89
+ 0.30203442879499215,
90
+ 0.5908141962421712
91
+ ],
92
+ [
93
+ 0.29264475743348983,
94
+ 0.592901878914405
95
+ ],
96
+ [
97
+ 0.27230046948356806,
98
+ 0.592901878914405
99
+ ],
100
+ [
101
+ 0.2644757433489828,
102
+ 0.5908141962421712
103
+ ],
104
+ [
105
+ 0.2597809076682316,
106
+ 0.5887265135699373
107
+ ],
108
+ [
109
+ 0.2535211267605634,
110
+ 0.5845511482254697
111
+ ],
112
+ [
113
+ 0.24569640062597808,
114
+ 0.5741127348643006
115
+ ],
116
+ [
117
+ 0.2378716744913928,
118
+ 0.511482254697286
119
+ ],
120
+ [
121
+ 0.23161189358372458,
122
+ 0.4592901878914405
123
+ ]
124
+ ],
125
+ "visible_pixel_count": 4966
126
+ }
127
+ ],
128
+ "scenario": "one_cup_distractors",
129
+ "seed": 300193,
130
+ "split": "test",
131
+ "visible_instance_count": 1
132
+ }
dataset/truth/test/000300194.json ADDED
@@ -0,0 +1,263 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 2,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.23943661971830985,
10
+ 0.4321503131524008
11
+ ],
12
+ [
13
+ 0.24726134585289514,
14
+ 0.42171189979123175
15
+ ],
16
+ [
17
+ 0.2519561815336463,
18
+ 0.4175365344467641
19
+ ],
20
+ [
21
+ 0.25508607198748046,
22
+ 0.4154488517745303
23
+ ],
24
+ [
25
+ 0.27386541471048514,
26
+ 0.407098121085595
27
+ ],
28
+ [
29
+ 0.2863849765258216,
30
+ 0.40501043841336115
31
+ ],
32
+ [
33
+ 0.3082942097026604,
34
+ 0.40501043841336115
35
+ ],
36
+ [
37
+ 0.3192488262910798,
38
+ 0.407098121085595
39
+ ],
40
+ [
41
+ 0.323943661971831,
42
+ 0.4091858037578288
43
+ ],
44
+ [
45
+ 0.3270735524256651,
46
+ 0.4112734864300626
47
+ ],
48
+ [
49
+ 0.3348982785602504,
50
+ 0.4175365344467641
51
+ ],
52
+ [
53
+ 0.3364632237871675,
54
+ 0.42171189979123175
55
+ ],
56
+ [
57
+ 0.3380281690140845,
58
+ 0.430062630480167
59
+ ],
60
+ [
61
+ 0.3395931142410016,
62
+ 0.4488517745302714
63
+ ],
64
+ [
65
+ 0.3427230046948357,
66
+ 0.4906054279749478
67
+ ],
68
+ [
69
+ 0.3458528951486698,
70
+ 0.534446764091858
71
+ ],
72
+ [
73
+ 0.3458528951486698,
74
+ 0.5532359081419624
75
+ ],
76
+ [
77
+ 0.3427230046948357,
78
+ 0.5615866388308977
79
+ ],
80
+ [
81
+ 0.3348982785602504,
82
+ 0.5720250521920668
83
+ ],
84
+ [
85
+ 0.3223787167449139,
86
+ 0.5803757828810021
87
+ ],
88
+ [
89
+ 0.31768388106416273,
90
+ 0.5824634655532359
91
+ ],
92
+ [
93
+ 0.3051643192488263,
94
+ 0.5866388308977035
95
+ ],
96
+ [
97
+ 0.27856025039123633,
98
+ 0.5866388308977035
99
+ ],
100
+ [
101
+ 0.27230046948356806,
102
+ 0.5845511482254697
103
+ ],
104
+ [
105
+ 0.2676056338028169,
106
+ 0.5824634655532359
107
+ ],
108
+ [
109
+ 0.26134585289514867,
110
+ 0.5782881002087683
111
+ ],
112
+ [
113
+ 0.2535211267605634,
114
+ 0.5678496868475992
115
+ ],
116
+ [
117
+ 0.25039123630672927,
118
+ 0.5427974947807933
119
+ ],
120
+ [
121
+ 0.23943661971830985,
122
+ 0.4509394572025052
123
+ ]
124
+ ],
125
+ "visible_pixel_count": 5094
126
+ },
127
+ {
128
+ "body_id": 12,
129
+ "body_name": "plastic_cup_b",
130
+ "polygon_xy": [
131
+ [
132
+ 0.14084507042253522,
133
+ 0.3903966597077244
134
+ ],
135
+ [
136
+ 0.14241001564945227,
137
+ 0.38413361169102295
138
+ ],
139
+ [
140
+ 0.15179968701095461,
141
+ 0.3757828810020877
142
+ ],
143
+ [
144
+ 0.15805946791862285,
145
+ 0.37160751565762007
146
+ ],
147
+ [
148
+ 0.162754303599374,
149
+ 0.3695198329853862
150
+ ],
151
+ [
152
+ 0.17370892018779344,
153
+ 0.3653444676409186
154
+ ],
155
+ [
156
+ 0.18153364632237873,
157
+ 0.36325678496868474
158
+ ],
159
+ [
160
+ 0.19718309859154928,
161
+ 0.36116910229645094
162
+ ],
163
+ [
164
+ 0.20344287949921752,
165
+ 0.36116910229645094
166
+ ],
167
+ [
168
+ 0.21752738654147105,
169
+ 0.36325678496868474
170
+ ],
171
+ [
172
+ 0.2222222222222222,
173
+ 0.3653444676409186
174
+ ],
175
+ [
176
+ 0.23161189358372458,
177
+ 0.37160751565762007
178
+ ],
179
+ [
180
+ 0.23317683881064163,
181
+ 0.3736951983298539
182
+ ],
183
+ [
184
+ 0.2347417840375587,
185
+ 0.38413361169102295
186
+ ],
187
+ [
188
+ 0.23630672926447574,
189
+ 0.3966597077244259
190
+ ],
191
+ [
192
+ 0.23943661971830985,
193
+ 0.42379958246346555
194
+ ],
195
+ [
196
+ 0.24413145539906103,
197
+ 0.4906054279749478
198
+ ],
199
+ [
200
+ 0.24413145539906103,
201
+ 0.5052192066805845
202
+ ],
203
+ [
204
+ 0.23943661971830985,
205
+ 0.511482254697286
206
+ ],
207
+ [
208
+ 0.2347417840375587,
209
+ 0.5156576200417536
210
+ ],
211
+ [
212
+ 0.22535211267605634,
213
+ 0.5219206680584552
214
+ ],
215
+ [
216
+ 0.215962441314554,
217
+ 0.5260960334029228
218
+ ],
219
+ [
220
+ 0.2081377151799687,
221
+ 0.5281837160751566
222
+ ],
223
+ [
224
+ 0.19561815336463223,
225
+ 0.5302713987473904
226
+ ],
227
+ [
228
+ 0.18622848200312989,
229
+ 0.5302713987473904
230
+ ],
231
+ [
232
+ 0.17683881064162754,
233
+ 0.5281837160751566
234
+ ],
235
+ [
236
+ 0.1705790297339593,
237
+ 0.5260960334029228
238
+ ],
239
+ [
240
+ 0.1674491392801252,
241
+ 0.524008350730689
242
+ ],
243
+ [
244
+ 0.15805946791862285,
245
+ 0.511482254697286
246
+ ],
247
+ [
248
+ 0.15492957746478872,
249
+ 0.49269311064718163
250
+ ],
251
+ [
252
+ 0.14084507042253522,
253
+ 0.40501043841336115
254
+ ]
255
+ ],
256
+ "visible_pixel_count": 4431
257
+ }
258
+ ],
259
+ "scenario": "two_cups",
260
+ "seed": 300194,
261
+ "split": "test",
262
+ "visible_instance_count": 2
263
+ }
dataset/truth/test/000300195.json ADDED
@@ -0,0 +1,120 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.20500782472613457,
10
+ 0.40501043841336115
11
+ ],
12
+ [
13
+ 0.20657276995305165,
14
+ 0.40292275574112735
15
+ ],
16
+ [
17
+ 0.21283255086071987,
18
+ 0.3966597077244259
19
+ ],
20
+ [
21
+ 0.21752738654147105,
22
+ 0.3924843423799583
23
+ ],
24
+ [
25
+ 0.22065727699530516,
26
+ 0.3903966597077244
27
+ ],
28
+ [
29
+ 0.2347417840375587,
30
+ 0.38413361169102295
31
+ ],
32
+ [
33
+ 0.24100156494522693,
34
+ 0.38204592901878914
35
+ ],
36
+ [
37
+ 0.2566510172143975,
38
+ 0.37995824634655534
39
+ ],
40
+ [
41
+ 0.26291079812206575,
42
+ 0.37995824634655534
43
+ ],
44
+ [
45
+ 0.2644757433489828,
46
+ 0.3883089770354906
47
+ ],
48
+ [
49
+ 0.27386541471048514,
50
+ 0.4759916492693111
51
+ ],
52
+ [
53
+ 0.28012519561815336,
54
+ 0.5365344467640919
55
+ ],
56
+ [
57
+ 0.28012519561815336,
58
+ 0.5490605427974948
59
+ ],
60
+ [
61
+ 0.27856025039123633,
62
+ 0.5511482254697286
63
+ ],
64
+ [
65
+ 0.27230046948356806,
66
+ 0.5532359081419624
67
+ ],
68
+ [
69
+ 0.2597809076682316,
70
+ 0.5553235908141962
71
+ ],
72
+ [
73
+ 0.25039123630672927,
74
+ 0.5553235908141962
75
+ ],
76
+ [
77
+ 0.24100156494522693,
78
+ 0.5532359081419624
79
+ ],
80
+ [
81
+ 0.2347417840375587,
82
+ 0.5511482254697286
83
+ ],
84
+ [
85
+ 0.22848200312989045,
86
+ 0.5469728601252609
87
+ ],
88
+ [
89
+ 0.22065727699530516,
90
+ 0.5365344467640919
91
+ ],
92
+ [
93
+ 0.2190923317683881,
94
+ 0.5281837160751566
95
+ ],
96
+ [
97
+ 0.21752738654147105,
98
+ 0.5177453027139874
99
+ ],
100
+ [
101
+ 0.21439749608763695,
102
+ 0.49478079331941544
103
+ ],
104
+ [
105
+ 0.20657276995305165,
106
+ 0.4363256784968685
107
+ ],
108
+ [
109
+ 0.20500782472613457,
110
+ 0.42379958246346555
111
+ ]
112
+ ],
113
+ "visible_pixel_count": 3130
114
+ }
115
+ ],
116
+ "scenario": "cup_near_bottle",
117
+ "seed": 300195,
118
+ "split": "test",
119
+ "visible_instance_count": 1
120
+ }
dataset/truth/test/000300196.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 0,
3
+ "instances": [],
4
+ "scenario": "no_cup",
5
+ "seed": 300196,
6
+ "split": "test",
7
+ "visible_instance_count": 0
8
+ }
dataset/truth/test/000300197.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "configured_cup_count": 1,
3
+ "instances": [
4
+ {
5
+ "body_id": 11,
6
+ "body_name": "plastic_cup",
7
+ "polygon_xy": [
8
+ [
9
+ 0.18935837245696402,
10
+ 0.44467640918580376
11
+ ],
12
+ [
13
+ 0.19718309859154928,
14
+ 0.4363256784968685
15
+ ],
16
+ [
17
+ 0.20344287949921752,
18
+ 0.430062630480167
19
+ ],
20
+ [
21
+ 0.2222222222222222,
22
+ 0.42171189979123175
23
+ ],
24
+ [
25
+ 0.2300469483568075,
26
+ 0.4196242171189979
27
+ ],
28
+ [
29
+ 0.24413145539906103,
30
+ 0.4175365344467641
31
+ ],
32
+ [
33
+ 0.2519561815336463,
34
+ 0.4175365344467641
35
+ ],
36
+ [
37
+ 0.2644757433489828,
38
+ 0.4196242171189979
39
+ ],
40
+ [
41
+ 0.27073552425665104,
42
+ 0.42171189979123175
43
+ ],
44
+ [
45
+ 0.28325508607198746,
46
+ 0.430062630480167
47
+ ],
48
+ [
49
+ 0.28482003129890454,
50
+ 0.4405010438413361
51
+ ],
52
+ [
53
+ 0.2863849765258216,
54
+ 0.4551148225469729
55
+ ],
56
+ [
57
+ 0.2895148669796557,
58
+ 0.48643006263048016
59
+ ],
60
+ [
61
+ 0.2942097026604069,
62
+ 0.534446764091858
63
+ ],
64
+ [
65
+ 0.29577464788732394,
66
+ 0.5511482254697286
67
+ ],
68
+ [
69
+ 0.29577464788732394,
70
+ 0.5615866388308977
71
+ ],
72
+ [
73
+ 0.2942097026604069,
74
+ 0.5657620041753654
75
+ ],
76
+ [
77
+ 0.28325508607198746,
78
+ 0.5803757828810021
79
+ ],
80
+ [
81
+ 0.27386541471048514,
82
+ 0.5866388308977035
83
+ ],
84
+ [
85
+ 0.2644757433489828,
86
+ 0.5908141962421712
87
+ ],
88
+ [
89
+ 0.25821596244131456,
90
+ 0.592901878914405
91
+ ],
92
+ [
93
+ 0.24882629107981222,
94
+ 0.5949895615866388
95
+ ],
96
+ [
97
+ 0.23161189358372458,
98
+ 0.5949895615866388
99
+ ],
100
+ [
101
+ 0.2237871674491393,
102
+ 0.592901878914405
103
+ ],
104
+ [
105
+ 0.2190923317683881,
106
+ 0.5908141962421712
107
+ ],
108
+ [
109
+ 0.21283255086071987,
110
+ 0.5866388308977035
111
+ ],
112
+ [
113
+ 0.20500782472613457,
114
+ 0.5762004175365344
115
+ ],
116
+ [
117
+ 0.19092331768388107,
118
+ 0.4780793319415449
119
+ ],
120
+ [
121
+ 0.18935837245696402,
122
+ 0.46555323590814196
123
+ ]
124
+ ],
125
+ "visible_pixel_count": 4813
126
+ }
127
+ ],
128
+ "scenario": "one_cup_distractors",
129
+ "seed": 300197,
130
+ "split": "test",
131
+ "visible_instance_count": 1
132
+ }