annotator_notes: Put clothes in the white laundry basket and toys in the plastic storage box. Pick and place clothes, pick and toss toys.
seen_objects: [shirt, toy car, toy block, sock]
seen_placements: [
  [shirt, white laundry basket],
  [toy car, plastic storage box],
  [toy block, plastic storage box],
  [sock, white laundry basket],
]
seen_primitives: [
  [shirt, place],
  [toy car, toss],
  [toy block, toss],
  [sock, place],
]
unseen_objects: [blue jeans, red shirt, toy cup, toy fork]
unseen_placements: [
  [blue jeans, white laundry basket],
  [red shirt, white laundry basket],
  [toy cup, plastic storage box],
  [toy fork, plastic storage box],
]
receptacles:
  white laundry basket:
    position: [0.0, 0.0]
    dimensions: [0.44, 0.44]
    primitive_names: [place, toss]
    place_height: 0.3
  # seagrass laundry basket:
  #   position: [0.0, 0.0]
  #   dimensions: [0.60, 0.46]
  #   primitive_names: [place, toss]
  #   place_height: 0.3
  # trash can:
  #   position: [0.0, 0.0]
  #   dimensions: [0.296, 0.215]
  #   primitive_names: [place, toss]
  #   place_height: 0.1
  # recycling bin:
  #   position: [0.0, 0.0]
  #   dimensions: [0.293, 0.203]
  #   primitive_names: [place, toss]
  #   place_height: 0.1
  plastic storage box:
    #position: [0.0, 0.0]
    position: [0.610, 0.0]  # 0.0254*24
    dimensions: [0.333, 0.245]
    primitive_names: [place, toss]
    place_height: -0.05
  # black storage box:
  #   position: [0.0, 0.0]
  #   dimensions: [0.38, 0.33]
  #   primitive_names: [place, toss]
  #   place_height: 0.12
  # coffee table:
  #   position: [-0.160, 1.189]  # 0.9/2 - 0.0254*24, 0.0254*36 + 0.55/2
  #   dimensions: [0.9, 0.55]
  #   primitive_names: [place]
  #   center_offset: [0.0, -0.15]
  #   end_effector_offset: 0.55
  #   place_height: 0.165
  # chair:
  #   position: [0.0, 0.0]
  #   dimensions: [0.58, 0.58]
  #   primitive_names: [place]
  #   center_offset: [0.0, 0.0]
  #   end_effector_offset: 0.55
  #   place_height: 0.3
  # sofa:
  #   position: [0.0, 0.150]  # 0.91/2 - 0.0254*12
  #   dimensions: [1.87, 0.91]
  #   primitive_names: [place]
  #   center_offset: [0.0, -0.17]
  #   end_effector_offset: 0.55
  #   place_height: 0.25
  # left shelf:
  #   position: [-0.15, 0.453]
  #   dimensions: [0.912, 0.296]
  #   primitive_names: [place]
  #   center_offset: [-0.30, -0.148]
  #   end_effector_offset: 0.75
  # middle shelf:
  #   position: [-0.15, 0.453]  # 0.0254*12 + 0.296/2
  #   dimensions: [0.912, 0.296]
  #   primitive_names: [place]
  #   center_offset: [0.0, -0.148]  # 0.296/2
  #   end_effector_offset: 0.75
  # right shelf:
  #   position: [-0.15, 0.453]
  #   dimensions: [0.912, 0.296]
  #   primitive_names: [place]
  #   center_offset: [0.30, -0.148]
  #   end_effector_offset: 0.75
  # drawer:
  #   position: [0.0, 0.501]  # 0.0254*12 + 0.392/2
  #   dimensions: [0.764, 0.392]
  #   primitive_names: [place]
  #   center_offset: [-0.182, -0.196]  # 0.392/2
  #   end_effector_offset: 0.80