diff --git a/bddl/data_generation/get_hierarchy_full.py b/bddl/data_generation/get_hierarchy_full.py index add202a7..00c9bab1 100644 --- a/bddl/data_generation/get_hierarchy_full.py +++ b/bddl/data_generation/get_hierarchy_full.py @@ -10,16 +10,17 @@ from nltk.corpus import wordnet as wn HIERARCHY_OUTPUT_FN = pathlib.Path(__file__).parents[1] / "generated_data" / "output_hierarchy.json" +HIERARCHY_PROPERTIES_OUTPUT_FN = pathlib.Path(__file__).parents[1] / "generated_data" / "output_hierarchy_properties.json" CATEGORY_MAPPING_FN = pathlib.Path(__file__).parents[1] / "generated_data" / "category_mapping.csv" +SYN_PROP_PARAM_FN = pathlib.Path(__file__).parents[1] / "generated_data" / "propagated_annots_params.json" def add_igibson_objects(node, synset_to_cat): ''' Go through the hierarchy and add the words associated with the synsets as attributes. ''' - # categories = if node["name"] in synset_to_cat: - node["igibson_categories"] = sorted(synset_to_cat[node["name"]]) + node["categories"] = sorted(synset_to_cat[node["name"]]) if "children" in node: for child_node in node["children"]: @@ -55,6 +56,13 @@ def generate_paths(paths, path, synset, syn_prop_dict): generate_paths(paths, path + [hypernym], hypernym, syn_prop_dict) +def add_properties(node, syn_prop_param_dict): + node["abilities"] = syn_prop_param_dict[node["name"]] + if "children" in node: + for child_node in node["children"]: + add_properties(child_node, syn_prop_param_dict) + + # API def get_hierarchy(syn_prop_dict): @@ -85,6 +93,15 @@ def get_hierarchy(syn_prop_dict): return hierarchy +def create_get_save_hierarchy_with_properties(hierarchy): + with open(SYN_PROP_PARAM_FN) as f: + syn_prop_param_dict = json.load(f) + add_properties(hierarchy, syn_prop_param_dict) + with open(HIERARCHY_PROPERTIES_OUTPUT_FN, "w") as f: + json.dump(hierarchy, f, indent=2) + return hierarchy + + if __name__ == "__main__": pass diff --git a/bddl/data_generation/run_everything.py b/bddl/data_generation/run_everything.py index b3057513..433fa65c 100644 --- a/bddl/data_generation/run_everything.py +++ b/bddl/data_generation/run_everything.py @@ -1,5 +1,5 @@ import pathlib -from bddl.data_generation.get_hierarchy_full import get_hierarchy +from bddl.data_generation.get_hierarchy_full import get_hierarchy, create_get_save_hierarchy_with_properties from bddl.data_generation.get_syn_prop_annots_canonical import create_get_save_annots_canonical, create_get_save_properties_to_synsets, create_get_save_synsets_to_descriptors from bddl.data_generation.propagate_by_intersection import create_get_save_propagated_canonical from bddl.data_generation.process_prop_param_annots import create_get_save_propagated_annots_params @@ -20,8 +20,6 @@ # owned_models.to_csv("owned_models.csv", index=False) def main(): - nltk.download('wordnet') - # Get full hierarchy (it's created and saved on import) with open(SYN_PROP_DATA_FN, "r") as f: syn_prop_dict = {} @@ -44,6 +42,9 @@ def main(): # Add parameter info to syns-to-props create_get_save_propagated_annots_params(propagated_canonical, props_to_syns) + # Add prop-param info to hierarchy + create_get_save_hierarchy_with_properties(hierarchy) + # # Create and save activity-specific hierarchies (no getting because that will get complicated) # create_save_activity_specific_hierarchies() diff --git a/bddl/generated_data/output_hierarchy.json b/bddl/generated_data/output_hierarchy.json index 91e63c92..a3c5133d 100644 --- a/bddl/generated_data/output_hierarchy.json +++ b/bddl/generated_data/output_hierarchy.json @@ -48,7 +48,7 @@ { "name": "balsamic_vinegar__bottle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "balsamic_vinegar_bottle" ] }, @@ -63,7 +63,7 @@ { "name": "bathtub.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bathtub" ] }, @@ -74,7 +74,7 @@ { "name": "beer_barrel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "beer_keg" ] }, @@ -99,21 +99,21 @@ { "name": "canteen.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "canteen" ] }, { "name": "erlenmeyer_flask.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "erlenmeyer_flask" ] }, { "name": "round-bottom_flask.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "round_bottom_flask" ] }, @@ -132,7 +132,7 @@ { "name": "carafe.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carafe", "decanter", "fragrance_decanter" @@ -141,14 +141,14 @@ { "name": "carboy.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "reagent_bottle" ] }, { "name": "cruet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cruet" ] }, @@ -159,7 +159,7 @@ { "name": "pill_bottle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pill_bottle" ] }, @@ -170,7 +170,7 @@ { "name": "specimen_bottle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "specimen_bottle" ] }, @@ -183,7 +183,7 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "bottle" ] }, @@ -194,7 +194,7 @@ { "name": "bidet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bidet" ] } @@ -207,7 +207,7 @@ { "name": "bottle.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "baby_bottle" ] }, @@ -218,7 +218,7 @@ { "name": "bowl.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bowl" ] }, @@ -229,7 +229,7 @@ { "name": "bucket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bucket", "ice_bucket" ] @@ -241,7 +241,7 @@ { "name": "caldron.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cauldron" ] }, @@ -256,7 +256,7 @@ { "name": "drip_pot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "drip_pot" ] } @@ -265,14 +265,14 @@ { "name": "dutch_oven.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "dutch_oven" ] }, { "name": "kettle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boiler", "electric_kettle", "kettle" @@ -285,21 +285,21 @@ { "name": "saucepot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "saucepot" ] }, { "name": "stockpot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "stockpot" ] }, { "name": "teapot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "teapot" ] } @@ -360,21 +360,21 @@ { "name": "dipper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dipper" ] }, { "name": "scoop.n.06", "hasModel": true, - "igibson_categories": [ + "categories": [ "scoop" ] }, { "name": "soup_ladle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "soup_ladle" ] } @@ -431,7 +431,7 @@ { "name": "hot_tub.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hot_tub" ] }, @@ -502,14 +502,14 @@ { "name": "mason_jar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar" ] }, { "name": "vase.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "vase" ] } @@ -522,14 +522,14 @@ { "name": "mop_bucket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mop_bucket" ] }, { "name": "mortar.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "mortar" ] }, @@ -540,7 +540,7 @@ { "name": "mug.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "mug" ] } @@ -573,7 +573,7 @@ { "name": "pitcher.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "jug", "pitcher" ] @@ -589,7 +589,7 @@ { "name": "pressure_cooker.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pressure_cooker" ] } @@ -610,7 +610,7 @@ { "name": "salad__bowl.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "salad_bowl" ] }, @@ -669,7 +669,7 @@ { "name": "tank.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "tank" ] }, @@ -742,14 +742,14 @@ { "name": "aerosol.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "spray_can" ] }, { "name": "air_freshener__atomizer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "air_freshener_atomizer" ] }, @@ -760,14 +760,14 @@ { "name": "atomizer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "spray_bottle" ] }, { "name": "candy_dispenser_shelf.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "candy_dispenser_shelf" ] }, @@ -782,7 +782,7 @@ { "name": "dry_food_dispenser_shelf.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dry_food_dispenser_shelf" ] }, @@ -797,7 +797,7 @@ { "name": "inhaler.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "inhaler" ] }, @@ -820,7 +820,7 @@ { "name": "soap_dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "soap_dispenser", "wall_mounted_soap_dispenser" ] @@ -832,7 +832,7 @@ { "name": "tissue_dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tissue_dispenser" ] }, @@ -865,14 +865,14 @@ { "name": "ashcan.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "trash_can" ] }, { "name": "compost_bin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "compost_bin" ] }, @@ -889,28 +889,28 @@ { "name": "ashtray.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ashtray" ] }, { "name": "dustpan.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "dustpan" ] }, { "name": "icetray.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "ice_tray" ] }, { "name": "tray.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tray" ] } @@ -923,7 +923,7 @@ { "name": "baby_buggy.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "stroller" ] }, @@ -934,33 +934,33 @@ { "name": "barrow.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "wheelbarrow" ] }, { "name": "serving_cart.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "serving_cart" ] }, { "name": "shopping_cart.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shopping_cart" ] } ], - "igibson_categories": [ + "categories": [ "cart" ] }, { "name": "bicycle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bicycle" ] }, @@ -975,7 +975,7 @@ { "name": "car.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "car" ] }, @@ -986,14 +986,14 @@ { "name": "lorry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "lorry" ] }, { "name": "pickup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pickup_truck" ] }, @@ -1004,7 +1004,7 @@ { "name": "van.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "van" ] } @@ -1013,7 +1013,7 @@ { "name": "motorcycle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "motorcycle" ] } @@ -1028,7 +1028,7 @@ { "name": "skateboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "longboard" ] }, @@ -1045,7 +1045,7 @@ { "name": "backpack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "backpack" ] }, @@ -1060,7 +1060,7 @@ { "name": "carryall.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tote" ] }, @@ -1075,7 +1075,7 @@ { "name": "duffel_bag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "duffel_bag" ] } @@ -1096,7 +1096,7 @@ { "name": "gunnysack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "burlap_bag" ] }, @@ -1107,14 +1107,14 @@ { "name": "plastic_bag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "plastic_bag" ] }, { "name": "sack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_bag" ] }, @@ -1143,7 +1143,7 @@ { "name": "bag.n.06", "hasModel": true, - "igibson_categories": [ + "categories": [ "suitcase" ] } @@ -1152,21 +1152,21 @@ { "name": "briefcase.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "briefcase" ] }, { "name": "violin_case.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "violin_case" ] }, { "name": "wallet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wallet" ] } @@ -1183,7 +1183,7 @@ { "name": "carton.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "carton" ] }, @@ -1198,7 +1198,7 @@ { "name": "cash_register.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cash_register", "credit_card_terminal" ] @@ -1214,26 +1214,26 @@ { "name": "cedar_chest.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cedar_chest" ] }, { "name": "toolbox.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toolbox" ] }, { "name": "toy_box.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toy_box" ] } ], - "igibson_categories": [ + "categories": [ "chest" ] }, @@ -1256,14 +1256,14 @@ { "name": "mailbox.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mailbox" ] }, { "name": "matchbox.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "match_box" ] }, @@ -1282,7 +1282,7 @@ { "name": "packing_box.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "packing_box" ] } @@ -1291,7 +1291,7 @@ { "name": "pencil_box.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pencil_box", "pencil_case" ] @@ -1303,7 +1303,7 @@ { "name": "shoebox.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "shoe_box" ] }, @@ -1320,7 +1320,7 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "box", "storage_box" ] @@ -1332,14 +1332,14 @@ { "name": "beer_glass.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "beer_glass" ] }, { "name": "goblet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chalice", "cocktail_glass", "goblet" @@ -1348,7 +1348,7 @@ { "name": "shot_glass.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jigger" ] }, @@ -1359,19 +1359,19 @@ { "name": "water_glass.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "water_glass" ] }, { "name": "wineglass.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wineglass" ] } ], - "igibson_categories": [ + "categories": [ "glass" ] }, @@ -1398,14 +1398,14 @@ { "name": "canister.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "canister" ] }, { "name": "case.n.20", "hasModel": true, - "igibson_categories": [ + "categories": [ "display_case" ] }, @@ -1416,14 +1416,14 @@ { "name": "casserole.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "casserole" ] }, { "name": "gravy_boat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gravy_boat" ] }, @@ -1434,7 +1434,7 @@ { "name": "mixing_bowl.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mixing_bowl" ] }, @@ -1447,7 +1447,7 @@ { "name": "petri_dish.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "petri_dish" ] } @@ -1476,14 +1476,14 @@ { "name": "coffee_cup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "coffee_cup" ] }, { "name": "dixie_cup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_cup", "soda_cup" ] @@ -1491,12 +1491,12 @@ { "name": "teacup.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "teacup" ] } ], - "igibson_categories": [ + "categories": [ "cup" ] }, @@ -1523,7 +1523,7 @@ { "name": "conditioner__dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "conditioner_dispenser" ] }, @@ -1562,40 +1562,40 @@ { "name": "tablespoon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "tablespoon" ] }, { "name": "teaspoon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "teaspoon" ] }, { "name": "wooden_spoon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "wooden_spoon" ] } ], - "igibson_categories": [ + "categories": [ "spoon" ] }, { "name": "drink__dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "drink_dispenser" ] }, { "name": "envelope.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "envelope" ] }, @@ -1606,7 +1606,7 @@ { "name": "fuel__can.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "fuel_can" ] }, @@ -1633,14 +1633,14 @@ { "name": "hamper.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hamper" ] }, { "name": "shopping_basket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shopping_basket" ] }, @@ -1649,7 +1649,7 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "basket" ] }, @@ -1664,14 +1664,14 @@ { "name": "isopropanol__dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "isopropanol_dispenser" ] }, { "name": "jam__dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jam_dispenser" ] }, @@ -1686,14 +1686,14 @@ { "name": "litter_box.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "litter_box" ] }, { "name": "lunch_box.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lunch_box" ] }, @@ -1712,7 +1712,7 @@ { "name": "measuring_cup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "measuring_cup" ] } @@ -1757,7 +1757,7 @@ { "name": "pepper__shaker.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pepper_shaker" ] }, @@ -1768,7 +1768,7 @@ { "name": "pizza_box.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pizza_box" ] }, @@ -1779,7 +1779,7 @@ { "name": "pot.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "plant_pot" ] }, @@ -1814,21 +1814,21 @@ { "name": "salt__shaker.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "salt_shaker" ] }, { "name": "shaker.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "shaker" ] }, { "name": "shampoo__dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shampoo_dispenser" ] }, @@ -1839,7 +1839,7 @@ { "name": "shoulder_bag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shoulder_bag" ] } @@ -1860,7 +1860,7 @@ { "name": "storage_organizer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "storage_organizer" ] }, @@ -1879,21 +1879,21 @@ { "name": "tupperware.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tupperware" ] }, { "name": "water__dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "water_dispenser" ] }, { "name": "watering_can.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "watering_can" ] }, @@ -1930,7 +1930,7 @@ { "name": "air_conditioner.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "air_conditioner", "ceiling_air_conditioner" ] @@ -1986,21 +1986,21 @@ { "name": "hammock.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "hammock" ] }, { "name": "pump.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pump" ] }, { "name": "sprinkler.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "fire_sprinkler", "sprinkler" ] @@ -2008,7 +2008,7 @@ { "name": "swing.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "swing" ] } @@ -2029,14 +2029,14 @@ { "name": "beer_tap.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "beer_tap" ] }, { "name": "water_faucet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "water_faucet" ] } @@ -2045,7 +2045,7 @@ { "name": "thermostat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "thermostat" ] } @@ -2054,7 +2054,7 @@ { "name": "joystick.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "joystick" ] }, @@ -2071,7 +2071,7 @@ { "name": "switch.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "electric_switch" ] }, @@ -2102,7 +2102,7 @@ { "name": "puck.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hockey_puck" ] } @@ -2121,7 +2121,7 @@ { "name": "air_filter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "air_filter" ] }, @@ -2132,14 +2132,14 @@ { "name": "colander.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "colander" ] }, { "name": "sieve.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sieve" ] } @@ -2152,14 +2152,14 @@ { "name": "paper_coffee_filter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_coffee_filter" ] }, { "name": "portafilter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "portafilter" ] } @@ -2168,7 +2168,7 @@ { "name": "water_filter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "water_filter" ] } @@ -2193,7 +2193,7 @@ { "name": "alarm_clock.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "alarm_clock" ] }, @@ -2204,7 +2204,7 @@ { "name": "grandfather_clock.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "grandfather_clock" ] } @@ -2213,7 +2213,7 @@ { "name": "wall_clock.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wall_clock" ] } @@ -2222,14 +2222,14 @@ { "name": "sandglass.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hourglass" ] }, { "name": "watch.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "watch" ] } @@ -2238,14 +2238,14 @@ { "name": "burette.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "buret" ] }, { "name": "caliper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "caliper" ] }, @@ -2260,7 +2260,7 @@ { "name": "graduated_cylinder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "graduated_cylinder" ] } @@ -2273,14 +2273,14 @@ { "name": "meat_thermometer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "meat_thermometer" ] }, { "name": "self-registering_thermometer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "digital_thermometer" ] } @@ -2297,7 +2297,7 @@ { "name": "rule.n.12", "hasModel": true, - "igibson_categories": [ + "categories": [ "ruler" ] } @@ -2306,7 +2306,7 @@ { "name": "scale.n.07", "hasModel": true, - "igibson_categories": [ + "categories": [ "digital_scale", "kitchen_analog_scale" ] @@ -2314,7 +2314,7 @@ { "name": "tape.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "measuring_tape" ] } @@ -2339,14 +2339,14 @@ { "name": "compound_microscope.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "microscope" ] }, { "name": "hand_glass.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "magnifying_glass" ] } @@ -2373,7 +2373,7 @@ { "name": "dart.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dart" ] } @@ -2392,14 +2392,14 @@ { "name": "goggles.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "goggles" ] }, { "name": "projector.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceiling_mounted_projector", "projector" ] @@ -2407,14 +2407,14 @@ { "name": "spectacles.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "eyeglasses" ] }, { "name": "sunglasses.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "sunglasses" ] } @@ -2427,7 +2427,7 @@ { "name": "syringe.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "syringe" ] } @@ -2446,7 +2446,7 @@ { "name": "battery.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "battery" ] }, @@ -2477,7 +2477,7 @@ { "name": "headset.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "headset" ] } @@ -2488,7 +2488,7 @@ { "name": "loudspeaker.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "loudspeaker", "speaker_system", "wall_mounted_loudspeaker" @@ -2497,7 +2497,7 @@ { "name": "microphone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gooseneck_microphone", "microphone" ] @@ -2507,7 +2507,7 @@ { "name": "photoelectric_cell.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "motion_sensor" ] } @@ -2516,7 +2516,7 @@ { "name": "plug.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "plug" ] }, @@ -2537,14 +2537,14 @@ { "name": "bar.n.13", "hasModel": true, - "igibson_categories": [ + "categories": [ "weight_bar" ] }, { "name": "base.n.08", "hasModel": true, - "igibson_categories": [ + "categories": [ "cake_stand", "dessert_stand", "pedestal" @@ -2557,7 +2557,7 @@ { "name": "bookend.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bookend" ] }, @@ -2576,7 +2576,7 @@ { "name": "column.n.07", "hasModel": true, - "igibson_categories": [ + "categories": [ "pillar" ] }, @@ -2587,7 +2587,7 @@ { "name": "stake.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "stake" ] } @@ -2612,14 +2612,14 @@ { "name": "camera_tripod.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "camera_tripod" ] }, { "name": "easel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "easel" ] } @@ -2628,14 +2628,14 @@ { "name": "knife_block.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "knife_block" ] }, { "name": "magazine_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "desk_organizer", "magazine_rack" ] @@ -2643,7 +2643,7 @@ { "name": "plant_pot_stand.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "plant_pot_stand" ] } @@ -2662,7 +2662,7 @@ { "name": "hanger.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hanger" ] }, @@ -2677,42 +2677,42 @@ { "name": "shelf_back.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shelf_back_panel" ] }, { "name": "shelf_baseboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shelf_baseboard" ] }, { "name": "shelf_shelf.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shelf_shelf" ] }, { "name": "shelf_side.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shelf_side" ] }, { "name": "shelf_top.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shelf_top" ] }, { "name": "shelf.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "grocery_shelf", "shelf", "wall_mounted_shelf" @@ -2721,7 +2721,7 @@ { "name": "step.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "stairs" ] } @@ -2742,26 +2742,26 @@ { "name": "beeswax_candle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "beeswax_candle" ] }, { "name": "dip.n.07", "hasModel": true, - "igibson_categories": [ + "categories": [ "dip_candle" ] }, { "name": "pillar_candle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pillar_candle" ] } ], - "igibson_categories": [ + "categories": [ "candle" ] }, @@ -2776,14 +2776,14 @@ { "name": "flashlight.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "flashlight" ] }, { "name": "light_bulb.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bulb", "light_bulb" ] @@ -2793,21 +2793,21 @@ { "name": "lantern.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lantern" ] }, { "name": "spirit_lamp.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "spirit_lamp" ] }, { "name": "spotlight.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "spotlight" ] } @@ -2820,21 +2820,21 @@ { "name": "fairy_light.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "fairy_light" ] }, { "name": "icicle_lights.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "icicle_lights" ] }, { "name": "room_light.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "downlight", "room_light", "square_light", @@ -2852,14 +2852,14 @@ { "name": "bell.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bell" ] }, { "name": "whistle.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "whistle" ] } @@ -2872,14 +2872,14 @@ { "name": "bell.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bell" ] }, { "name": "whistle.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "whistle" ] } @@ -2908,7 +2908,7 @@ { "name": "calculator.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "calculator" ] }, @@ -2923,7 +2923,7 @@ { "name": "chain_saw.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chainsaw" ] } @@ -2942,14 +2942,14 @@ { "name": "coffee_mill.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "coffee_grinder" ] }, { "name": "pepper_mill.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pepper_grinder" ] } @@ -2972,7 +2972,7 @@ { "name": "desktop_computer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "desktop_computer" ] }, @@ -2983,14 +2983,14 @@ { "name": "laptop.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "laptop" ] }, { "name": "tablet.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "tablet" ] } @@ -3019,7 +3019,7 @@ { "name": "jukebox.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jukebox" ] } @@ -3028,14 +3028,14 @@ { "name": "printer.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "printer" ] }, { "name": "slicer.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "food_slicer" ] }, @@ -3046,7 +3046,7 @@ { "name": "stapler.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "stapler" ] }, @@ -3061,7 +3061,7 @@ { "name": "vending_machine.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "vending_machine" ] } @@ -3072,7 +3072,7 @@ { "name": "bird_feeder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bird_feeder" ] }, @@ -3095,7 +3095,7 @@ { "name": "bobby_pin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bobby_pin" ] } @@ -3108,7 +3108,7 @@ { "name": "straight_pin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "straight_pin" ] } @@ -3125,14 +3125,14 @@ { "name": "bulldog_clip.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bulldog_clip" ] }, { "name": "paper_clip.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_clip" ] } @@ -3149,7 +3149,7 @@ { "name": "clout_nail.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "clout_nail" ] }, @@ -3164,7 +3164,7 @@ { "name": "thumbtack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "thumbtack" ] } @@ -3179,28 +3179,28 @@ { "name": "dowel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dowel" ] }, { "name": "lock.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lock" ] }, { "name": "screw.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "screw" ] }, { "name": "slide_fastener.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "zipper" ] }, @@ -3211,14 +3211,14 @@ { "name": "staple.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "staple" ] }, { "name": "thumbtack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "thumbtack" ] } @@ -3261,7 +3261,7 @@ { "name": "copper_wire.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "copper_wire" ] } @@ -3280,7 +3280,7 @@ { "name": "candlestick.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "candle_holder" ] }, @@ -3291,28 +3291,28 @@ { "name": "french_fry_holder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "french_fry_holder" ] }, { "name": "paper_towel_holder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_towel_holder" ] }, { "name": "pencil_holder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pencil_holder" ] }, { "name": "toilet_paper_holder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toilet_paper_holder" ] } @@ -3321,7 +3321,7 @@ { "name": "clamp.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "buret_clamp", "clamp", "flask_clamp", @@ -3337,14 +3337,14 @@ { "name": "ceiling_fan.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceiling_fan" ] }, { "name": "electric_fan.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "electric_fan" ] } @@ -3353,7 +3353,7 @@ { "name": "charger.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "charger" ] }, @@ -3364,14 +3364,14 @@ { "name": "cigar_lighter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lighter" ] }, { "name": "match.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "match" ] } @@ -3380,7 +3380,7 @@ { "name": "comb.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "comb" ] }, @@ -3395,14 +3395,14 @@ { "name": "compact_disk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cd" ] }, { "name": "videodisk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dvd" ] } @@ -3415,7 +3415,7 @@ { "name": "compact_disk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cd" ] }, @@ -3426,7 +3426,7 @@ { "name": "phonograph_record.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "phonograph_record" ] } @@ -3451,14 +3451,14 @@ { "name": "cornet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "trumpet" ] }, { "name": "trombone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "trombone" ] } @@ -3479,7 +3479,7 @@ { "name": "sax.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "saxophone" ] } @@ -3498,21 +3498,21 @@ { "name": "cymbal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cymbal" ] }, { "name": "drum.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "drumset" ] }, { "name": "piano.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "piano" ] } @@ -3525,14 +3525,14 @@ { "name": "guitar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "guitar" ] }, { "name": "piano.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "piano" ] }, @@ -3543,7 +3543,7 @@ { "name": "violin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "violin" ] } @@ -3558,7 +3558,7 @@ { "name": "piano.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "piano" ] } @@ -3573,14 +3573,14 @@ { "name": "denture.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "denture" ] }, { "name": "retainer.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "retainer" ] } @@ -3613,7 +3613,7 @@ { "name": "disk_drive.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hard_drive" ] } @@ -3630,14 +3630,14 @@ { "name": "display_panel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "whiteboard" ] }, { "name": "monitor.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "monitor" ] } @@ -3646,14 +3646,14 @@ { "name": "mouse.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "mouse" ] }, { "name": "scanner.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "scanner" ] } @@ -3676,7 +3676,7 @@ { "name": "exercise_bike.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "elliptical_machine", "exercise_bike" ] @@ -3684,21 +3684,21 @@ { "name": "hamster_wheel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hamster_wheel" ] }, { "name": "treadmill.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "treadmill" ] }, { "name": "yoga_mat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "yoga_mat" ] } @@ -3711,7 +3711,7 @@ { "name": "fire_alarm.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "fire_alarm" ] } @@ -3720,7 +3720,7 @@ { "name": "fire_extinguisher.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "fire_extinguisher" ] }, @@ -3731,7 +3731,7 @@ { "name": "hand_blower.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hair_dryer" ] } @@ -3740,7 +3740,7 @@ { "name": "key.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "key", "key_chain", "keys" @@ -3749,7 +3749,7 @@ { "name": "keyboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "keyboard" ] }, @@ -3770,7 +3770,7 @@ { "name": "mirror.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mirror" ] } @@ -3783,7 +3783,7 @@ { "name": "mousetrap.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mousetrap" ] } @@ -3796,7 +3796,7 @@ { "name": "paintbrush.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paintbrush" ] } @@ -3805,7 +3805,7 @@ { "name": "peeler.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "vegetable_peeler" ] }, @@ -3816,7 +3816,7 @@ { "name": "photoelectric_cell.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "motion_sensor" ] } @@ -3829,14 +3829,14 @@ { "name": "radiator.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "radiator" ] }, { "name": "sauna_heater.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sauna_heater" ] }, @@ -3845,7 +3845,7 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "heater" ] }, @@ -3880,7 +3880,7 @@ { "name": "shredder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shredder" ] }, @@ -3891,7 +3891,7 @@ { "name": "ski.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ski" ] } @@ -3904,7 +3904,7 @@ { "name": "tongs.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "test_tube_holder", "tongs" ] @@ -3912,14 +3912,14 @@ { "name": "ventilator.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "room_ventilator" ] }, { "name": "water_cooler.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "water_cooler" ] } @@ -3944,14 +3944,14 @@ { "name": "allen_wrench.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "allen_wrench" ] }, { "name": "open-end_wrench.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "open_end_wrench" ] } @@ -3968,7 +3968,7 @@ { "name": "corkscrew.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "corkscrew" ] } @@ -3979,14 +3979,14 @@ { "name": "hammer.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hammer" ] }, { "name": "heatgun.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "heatgun" ] }, @@ -4001,7 +4001,7 @@ { "name": "toothpick.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toothpick" ] } @@ -4010,7 +4010,7 @@ { "name": "pestle.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "pestle" ] }, @@ -4025,7 +4025,7 @@ { "name": "pliers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "plier" ] }, @@ -4044,7 +4044,7 @@ { "name": "pruner.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pruner" ] } @@ -4053,7 +4053,7 @@ { "name": "ripsaw.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ripsaw" ] } @@ -4068,7 +4068,7 @@ { "name": "putty_knife.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "putty_knife" ] } @@ -4077,42 +4077,42 @@ { "name": "scraper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "scraper" ] }, { "name": "screwdriver.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "screwdriver" ] }, { "name": "shovel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shovel" ] }, { "name": "square.n.08", "hasModel": true, - "igibson_categories": [ + "categories": [ "set_triangle" ] }, { "name": "trowel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "trowel" ] }, { "name": "tweezers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tweezers" ] } @@ -4133,7 +4133,7 @@ { "name": "ax.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "axe" ] }, @@ -4144,42 +4144,42 @@ { "name": "carving_knife.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carving_knife" ] }, { "name": "cleaver.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cleaver" ] }, { "name": "parer.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "parer" ] }, { "name": "pocketknife.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pocketknife" ] }, { "name": "table_knife.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "table_knife" ] }, { "name": "utility_knife.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "utility_knife" ] } @@ -4188,7 +4188,7 @@ { "name": "chisel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chisel" ] }, @@ -4203,7 +4203,7 @@ { "name": "shears.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shears" ] } @@ -4212,14 +4212,14 @@ { "name": "razor.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "razor" ] }, { "name": "wire_cutter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wire_cutter" ] } @@ -4228,7 +4228,7 @@ { "name": "pastry_cutter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pastry_cutter" ] } @@ -4251,7 +4251,7 @@ { "name": "chain_saw.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chainsaw" ] } @@ -4262,7 +4262,7 @@ { "name": "drill.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "drill", "power_drill" ] @@ -4270,7 +4270,7 @@ { "name": "hoe.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hoe" ] }, @@ -4281,7 +4281,7 @@ { "name": "lawn_mower.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lawn_mower" ] } @@ -4290,7 +4290,7 @@ { "name": "rake.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "rake" ] } @@ -4313,21 +4313,21 @@ { "name": "curtain_rod.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "curtain_rod" ] }, { "name": "fishing_rod.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "fishing_rod" ] }, { "name": "pole.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "clothesline_pole", "flag_pole", "pole" @@ -4346,7 +4346,7 @@ { "name": "bat.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "baseball_bat" ] } @@ -4359,7 +4359,7 @@ { "name": "drumstick.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "drumstick" ] }, @@ -4382,14 +4382,14 @@ { "name": "blackboard_eraser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blackboard_eraser" ] }, { "name": "rubber_eraser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rubber_eraser" ] } @@ -4410,14 +4410,14 @@ { "name": "blender.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blender" ] }, { "name": "electric_mixer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "electric_hand_mixer", "electric_mixer" ] @@ -4425,7 +4425,7 @@ { "name": "whisk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "whisk" ] } @@ -4442,7 +4442,7 @@ { "name": "caldron.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cauldron" ] }, @@ -4457,7 +4457,7 @@ { "name": "drip_pot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "drip_pot" ] } @@ -4466,14 +4466,14 @@ { "name": "dutch_oven.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "dutch_oven" ] }, { "name": "kettle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boiler", "electric_kettle", "kettle" @@ -4486,21 +4486,21 @@ { "name": "saucepot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "saucepot" ] }, { "name": "stockpot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "stockpot" ] }, { "name": "teapot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "teapot" ] } @@ -4509,7 +4509,7 @@ { "name": "cookie_sheet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "baking_sheet" ] }, @@ -4520,7 +4520,7 @@ { "name": "crock_pot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "crock_pot", "instant_pot", "oden_cooker" @@ -4529,14 +4529,14 @@ { "name": "popper.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "popcorn_machine" ] }, { "name": "rice_cooker.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rice_cooker" ] } @@ -4549,28 +4549,28 @@ { "name": "frying_pan.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "frying_pan" ] }, { "name": "roaster.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "roasting_pan" ] }, { "name": "saucepan.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "saucepan" ] }, { "name": "wok.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wok" ] } @@ -4579,14 +4579,14 @@ { "name": "griddle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "griddle" ] }, { "name": "skimmer.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "skimmer" ] }, @@ -4597,7 +4597,7 @@ { "name": "spatula.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "spatula" ] } @@ -4606,7 +4606,7 @@ { "name": "steamer.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "steamer_basket", "zhenglong" ] @@ -4616,21 +4616,21 @@ { "name": "cookie_cutter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cookie_cutter" ] }, { "name": "grater.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "grater" ] }, { "name": "masher.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "potato_masher" ] }, @@ -4641,7 +4641,7 @@ { "name": "reamer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "juicer" ] } @@ -4650,7 +4650,7 @@ { "name": "rolling_pin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rolling_pin" ] } @@ -4667,7 +4667,7 @@ { "name": "china.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "china" ] } @@ -4678,14 +4678,14 @@ { "name": "funnel.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "funnel" ] }, { "name": "server.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "pasta_server" ] } @@ -4698,35 +4698,35 @@ { "name": "broom.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "broom" ] }, { "name": "carpet_sweeper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carpet_sweeper" ] }, { "name": "pipe_cleaner.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pipe_cleaner" ] }, { "name": "squeegee.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "squeegee" ] }, { "name": "swab.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "mop" ] } @@ -4739,35 +4739,35 @@ { "name": "charcoal.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "charcoal" ] }, { "name": "crayon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "crayon" ] }, { "name": "marker.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "marker" ] }, { "name": "pen.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pen" ] }, { "name": "pencil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "colored_pencil", "pencil" ] @@ -4797,7 +4797,7 @@ { "name": "shears.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shears" ] } @@ -4806,7 +4806,7 @@ { "name": "pliers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "plier" ] } @@ -4831,14 +4831,14 @@ { "name": "cue.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "pool_stick" ] }, { "name": "mallet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mallet" ] }, @@ -4849,7 +4849,7 @@ { "name": "tennis_racket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tennis_racket" ] } @@ -4860,7 +4860,7 @@ { "name": "glue_stick.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "glue_stick" ] }, @@ -4871,28 +4871,28 @@ { "name": "hairbrush.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hairbrush" ] }, { "name": "paintbrush.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paintbrush" ] }, { "name": "scrub_brush.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "scrub_brush" ] }, { "name": "toothbrush.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toothbrush" ] } @@ -4901,14 +4901,14 @@ { "name": "hook.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "hook" ] }, { "name": "hose_cart.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hose_cart" ] }, @@ -4923,7 +4923,7 @@ { "name": "paddle.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "paddle" ] } @@ -4936,7 +4936,7 @@ { "name": "poker.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "poker" ] } @@ -4949,7 +4949,7 @@ { "name": "steel.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "honing_steel" ] } @@ -4958,7 +4958,7 @@ { "name": "stirrer.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "magnetic_stirrer" ] } @@ -4983,63 +4983,63 @@ { "name": "armchair.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "armchair" ] }, { "name": "chaise_longue.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chaise_longue" ] }, { "name": "eames_chair.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "eames_chair" ] }, { "name": "folding_chair.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "folding_chair" ] }, { "name": "highchair.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "highchair" ] }, { "name": "lawn_chair.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "garden_chair" ] }, { "name": "rocking_chair.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rocking_chair" ] }, { "name": "straight_chair.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "straight_chair" ] }, { "name": "swivel_chair.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "swivel_chair" ] } @@ -5048,7 +5048,7 @@ { "name": "bench.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bench", "hammam_bench", "sauna_bench" @@ -5061,26 +5061,26 @@ { "name": "footstool.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ottoman" ] }, { "name": "taboret.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "taboret" ] } ], - "igibson_categories": [ + "categories": [ "stool" ] }, { "name": "sofa.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sofa" ] } @@ -5097,40 +5097,40 @@ { "name": "bar.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "bar" ] }, { "name": "checkout.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "checkout_counter" ] } ], - "igibson_categories": [ + "categories": [ "counter" ] }, { "name": "booth.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "booth" ] }, { "name": "breakfast_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "breakfast_table" ] }, { "name": "coffee_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "coffee_table", "garden_coffee_table" ] @@ -5138,56 +5138,56 @@ { "name": "conference_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "conference_table" ] }, { "name": "console_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "console_table" ] }, { "name": "desk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "desk" ] }, { "name": "gaming_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gaming_table" ] }, { "name": "kitchen_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "commercial_kitchen_table" ] }, { "name": "pedestal_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pedestal_table" ] }, { "name": "pool_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pool_table" ] }, { "name": "stand.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "nightstand", "stand" ] @@ -5195,7 +5195,7 @@ { "name": "worktable.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lab_table" ] } @@ -5208,7 +5208,7 @@ { "name": "bed.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bed", "massage_bed" ] @@ -5216,7 +5216,7 @@ { "name": "pet_bed.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pet_bed" ] } @@ -5225,7 +5225,7 @@ { "name": "bookcase.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "book_case", "bookcase" ] @@ -5233,7 +5233,7 @@ { "name": "cabinet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottom_cabinet", "bottom_cabinet_no_top", "metal_bottom_cabinet", @@ -5243,7 +5243,7 @@ { "name": "chest_of_drawers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "drawer_unit" ] }, @@ -5254,7 +5254,7 @@ { "name": "crib.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "crib" ] } @@ -5267,7 +5267,7 @@ { "name": "floor_lamp.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "floor_lamp", "garden_light" ] @@ -5275,7 +5275,7 @@ { "name": "table_lamp.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "table_lamp" ] } @@ -5284,14 +5284,14 @@ { "name": "hospital_bed.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hospital_bed" ] }, { "name": "wardrobe.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hall_tree", "wardrobe" ] @@ -5301,14 +5301,14 @@ { "name": "curtain.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "curtain" ] }, { "name": "rug.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carpet" ] } @@ -5325,7 +5325,7 @@ { "name": "audio_system.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sound_system" ] }, @@ -5340,7 +5340,7 @@ { "name": "cellular_telephone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cell_phone" ] } @@ -5349,21 +5349,21 @@ { "name": "desk_phone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "desk_phone" ] }, { "name": "handset.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "handset" ] }, { "name": "pay-phone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pay_phone" ] } @@ -5380,14 +5380,14 @@ { "name": "joystick.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "joystick" ] }, { "name": "scanner.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "scanner" ] } @@ -5398,7 +5398,7 @@ { "name": "modem.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "modem" ] }, @@ -5413,14 +5413,14 @@ { "name": "radio_receiver.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "radio" ] }, { "name": "television_receiver.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "standing_tv", "wall_mounted_tv" ] @@ -5442,21 +5442,21 @@ { "name": "baseball_glove.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "baseball_glove" ] }, { "name": "baseball.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "baseball" ] }, { "name": "batting_glove.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "batting_gloves" ] } @@ -5469,7 +5469,7 @@ { "name": "basket.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceiling_mounted_basketball_hoop" ] } @@ -5482,7 +5482,7 @@ { "name": "boxing_glove.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boxing_gloves" ] } @@ -5491,7 +5491,7 @@ { "name": "flat_bench.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "flat_bench" ] }, @@ -5502,7 +5502,7 @@ { "name": "golf_club.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "golf_club" ] } @@ -5515,7 +5515,7 @@ { "name": "hockey_stick.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hockey_stick" ] } @@ -5528,7 +5528,7 @@ { "name": "ice_skate.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "skates" ] } @@ -5537,7 +5537,7 @@ { "name": "mat.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "gym_mat" ] }, @@ -5548,7 +5548,7 @@ { "name": "parallel_bars.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "parallel_bars" ] }, @@ -5559,7 +5559,7 @@ { "name": "pommel_horse.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pommel_horse" ] } @@ -5574,7 +5574,7 @@ { "name": "weight.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "free_weight" ] } @@ -5591,61 +5591,61 @@ { "name": "baseball.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "baseball" ] }, { "name": "bowling_ball.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bowling_ball" ] }, { "name": "pool_ball.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pool_ball" ] }, { "name": "punching_bag.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "punching_bag" ] }, { "name": "soccer_ball.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "soccer_ball" ] }, { "name": "softball.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "softball" ] }, { "name": "tennis_ball.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tennis_ball" ] }, { "name": "volleyball.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "volleyball" ] } ], - "igibson_categories": [ + "categories": [ "ball" ] }, @@ -5656,7 +5656,7 @@ { "name": "basket.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceiling_mounted_basketball_hoop" ] } @@ -5673,14 +5673,14 @@ { "name": "jigsaw_puzzle_piece.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jigsaw_puzzle_piece" ] }, { "name": "jigsaw_puzzle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jigsaw_puzzle" ] } @@ -5691,7 +5691,7 @@ { "name": "pool_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pool_table" ] }, @@ -5702,7 +5702,7 @@ { "name": "volleyball_net.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "volleyball_net" ] } @@ -5721,26 +5721,26 @@ { "name": "digital_camera.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "digital_camera" ] }, { "name": "security_camera.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "security_camera" ] }, { "name": "webcam.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "webcam" ] } ], - "igibson_categories": [ + "categories": [ "camera" ] } @@ -5757,14 +5757,14 @@ { "name": "facsimile.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "facsimile" ] }, { "name": "photocopier.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "photocopier" ] } @@ -5783,7 +5783,7 @@ { "name": "first-aid_kit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "first_aid_kit" ] } @@ -5792,7 +5792,7 @@ { "name": "fishing_gear.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tackle_box" ] } @@ -5809,7 +5809,7 @@ { "name": "life_jacket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "life_jacket" ] } @@ -5826,7 +5826,7 @@ { "name": "audio_system.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sound_system" ] } @@ -5847,7 +5847,7 @@ { "name": "baby_buggy.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "stroller" ] }, @@ -5858,33 +5858,33 @@ { "name": "barrow.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "wheelbarrow" ] }, { "name": "serving_cart.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "serving_cart" ] }, { "name": "shopping_cart.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shopping_cart" ] } ], - "igibson_categories": [ + "categories": [ "cart" ] }, { "name": "bicycle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bicycle" ] }, @@ -5899,7 +5899,7 @@ { "name": "car.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "car" ] }, @@ -5910,14 +5910,14 @@ { "name": "lorry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "lorry" ] }, { "name": "pickup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pickup_truck" ] }, @@ -5928,7 +5928,7 @@ { "name": "van.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "van" ] } @@ -5937,7 +5937,7 @@ { "name": "motorcycle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "motorcycle" ] } @@ -5952,7 +5952,7 @@ { "name": "skateboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "longboard" ] }, @@ -5977,7 +5977,7 @@ { "name": "balloon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "balloon" ] } @@ -6004,7 +6004,7 @@ { "name": "kayak.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "kayak" ] } @@ -6013,7 +6013,7 @@ { "name": "skiff.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "skiff" ] } @@ -6030,7 +6030,7 @@ { "name": "trailer.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "trailer" ] } @@ -6077,7 +6077,7 @@ { "name": "hinge.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hinge" ] } @@ -6132,7 +6132,7 @@ { "name": "comic_book.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "comic_book" ] } @@ -6167,7 +6167,7 @@ { "name": "lipstick.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lipstick" ] } @@ -6182,7 +6182,7 @@ { "name": "hair_spray.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hair_spray" ] }, @@ -6223,7 +6223,7 @@ { "name": "toothbrush.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toothbrush" ] } @@ -6246,7 +6246,7 @@ { "name": "aluminum_foil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "aluminium_foil" ] } @@ -6257,7 +6257,7 @@ { "name": "blackboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blackboard" ] }, @@ -6268,14 +6268,14 @@ { "name": "bulletin_board.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "bulletin_board" ] }, { "name": "chopping_board.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chopping_board", "cutting_board" ] @@ -6293,21 +6293,21 @@ { "name": "ironing_board.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ironing_board" ] }, { "name": "scoreboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "scoreboard" ] }, { "name": "skateboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "longboard" ] }, @@ -6324,7 +6324,7 @@ { "name": "license_plate.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "license_plate" ] }, @@ -6335,7 +6335,7 @@ { "name": "puck.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hockey_puck" ] } @@ -6354,7 +6354,7 @@ { "name": "plywood.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "plywood" ] } @@ -6395,7 +6395,7 @@ { "name": "apron.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "apron" ] } @@ -6412,7 +6412,7 @@ { "name": "baseball_cap.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "baseball_cap" ] } @@ -6421,7 +6421,7 @@ { "name": "hat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hat" ] } @@ -6438,14 +6438,14 @@ { "name": "batting_glove.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "batting_gloves" ] }, { "name": "goalkeeper_gloves.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "goalkeeper_gloves" ] }, @@ -6456,12 +6456,12 @@ { "name": "rubber_glove.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rubber_glove" ] } ], - "igibson_categories": [ + "categories": [ "glove" ] } @@ -6488,14 +6488,14 @@ { "name": "bikini.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "bikini" ] }, { "name": "maillot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "maillot" ] } @@ -6508,7 +6508,7 @@ { "name": "brassiere.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bra" ] }, @@ -6519,7 +6519,7 @@ { "name": "drawers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boxers" ] } @@ -6532,7 +6532,7 @@ { "name": "lingerie.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lingerie" ] } @@ -6547,14 +6547,14 @@ { "name": "cardigan.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cardigan" ] }, { "name": "crewneck_sweater.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "crewneck_sweater" ] }, @@ -6565,7 +6565,7 @@ { "name": "sweatshirt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hoodie", "sweatshirt" ] @@ -6577,7 +6577,7 @@ { "name": "diaper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "diaper" ] }, @@ -6588,14 +6588,14 @@ { "name": "dress_shirt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dress_shirt" ] }, { "name": "jersey.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "jersey", "t_shirt" ] @@ -6603,14 +6603,14 @@ { "name": "polo_shirt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "polo_shirt" ] }, { "name": "tank_top.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tank_top" ] } @@ -6631,14 +6631,14 @@ { "name": "jacket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jacket" ] }, { "name": "raincoat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "raincoat" ] }, @@ -6647,7 +6647,7 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "coat" ] }, @@ -6670,14 +6670,14 @@ { "name": "jean.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jeans" ] }, { "name": "long_trousers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pants" ] }, @@ -6688,7 +6688,7 @@ { "name": "short_pants.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shorts" ] }, @@ -6701,7 +6701,7 @@ { "name": "jump_suit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "onesie" ] }, @@ -6712,14 +6712,14 @@ { "name": "legging.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "legging" ] }, { "name": "leotard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "leotard" ] }, @@ -6730,7 +6730,7 @@ { "name": "necktie.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "necktie" ] } @@ -6747,14 +6747,14 @@ { "name": "sweat_suit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sauna_suit" ] }, { "name": "vest.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "vest" ] } @@ -6771,7 +6771,7 @@ { "name": "blouse.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blouse" ] } @@ -6780,14 +6780,14 @@ { "name": "brassiere.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bra" ] }, { "name": "dress.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dress" ] } @@ -6810,7 +6810,7 @@ { "name": "gown.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceremonial_robe" ] } @@ -6827,7 +6827,7 @@ { "name": "jean.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jeans" ] } @@ -6852,7 +6852,7 @@ { "name": "pajama.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pajamas" ] } @@ -6869,7 +6869,7 @@ { "name": "sock.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sock", "socks" ] @@ -6877,14 +6877,14 @@ { "name": "stocking.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "stocking" ] }, { "name": "tights.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tights" ] } @@ -6901,175 +6901,175 @@ { "name": "bag__of__auricularia.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_auricularia" ] }, { "name": "bag__of__breadcrumbs.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_breadcrumbs" ] }, { "name": "bag__of__brown_rice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_brown_rice" ] }, { "name": "bag__of__chips.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_chips" ] }, { "name": "bag__of__cocoa.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_cocoa" ] }, { "name": "bag__of__cookies.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_cookies" ] }, { "name": "bag__of__cream_cheese.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_cream_cheese" ] }, { "name": "bag__of__fertilizer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_fertilizer" ] }, { "name": "bag__of__flour.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_flour" ] }, { "name": "bag__of__ice_cream.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_ice_cream" ] }, { "name": "bag__of__oranges.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_oranges" ] }, { "name": "bag__of__popcorn.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_popcorn" ] }, { "name": "bag__of__rice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_rice" ] }, { "name": "bag__of__shiitake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_shiitake" ] }, { "name": "bag__of__snacks.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_snacks" ] }, { "name": "bag__of__starch.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_starch" ] }, { "name": "bag__of__tea.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_tea" ] }, { "name": "bag__of__yeast.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bag_of_yeast" ] }, { "name": "bottle__of__acetone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_acetone" ] }, { "name": "bottle__of__acid.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_acid" ] }, { "name": "bottle__of__alcohol.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_alcohol" ] }, { "name": "bottle__of__alfredo_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_alfredo_sauce" ] }, { "name": "bottle__of__allspice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_allspice" ] }, { "name": "bottle__of__almond_oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_almond_oil" ] }, { "name": "bottle__of__ammonia.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_ammonia" ] }, @@ -7080,42 +7080,42 @@ { "name": "bottle__of__antihistamines.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_antihistamines" ] }, { "name": "bottle__of__apple_cider.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_apple_cider" ] }, { "name": "bottle__of__apple_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_apple_juice" ] }, { "name": "bottle__of__applesauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_applesauce" ] }, { "name": "bottle__of__aspirin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_aspirin" ] }, { "name": "bottle__of__baby_oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_baby_oil" ] }, @@ -7126,973 +7126,973 @@ { "name": "bottle__of__barbecue_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_barbecue_sauce" ] }, { "name": "bottle__of__beer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_beer" ] }, { "name": "bottle__of__black_pepper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_black_pepper" ] }, { "name": "bottle__of__bleach_agent.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_bleach_agent" ] }, { "name": "bottle__of__brandy.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_brandy" ] }, { "name": "bottle__of__bug_repellent.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_bug_repellent" ] }, { "name": "bottle__of__buttermilk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_buttermilk" ] }, { "name": "bottle__of__carrot_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_carrot_juice" ] }, { "name": "bottle__of__catsup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_catsup" ] }, { "name": "bottle__of__caulk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_caulk" ] }, { "name": "bottle__of__champagne.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_champagne" ] }, { "name": "bottle__of__chili_pepper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_chili_pepper" ] }, { "name": "bottle__of__chocolate_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_chocolate_sauce" ] }, { "name": "bottle__of__cleaner.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_cleaner" ] }, { "name": "bottle__of__cocoa.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_cocoa" ] }, { "name": "bottle__of__coconut_milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_coconut_milk" ] }, { "name": "bottle__of__coconut_oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_coconut_oil" ] }, { "name": "bottle__of__coconut_water.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_coconut_water" ] }, { "name": "bottle__of__coffee.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_coffee" ] }, { "name": "bottle__of__coke.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_coke" ] }, { "name": "bottle__of__cold_cream.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_cold_cream" ] }, { "name": "bottle__of__cologne.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_cologne" ] }, { "name": "bottle__of__conditioner.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_conditioner" ] }, { "name": "bottle__of__cooking_oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_cooking_oil" ] }, { "name": "bottle__of__cranberry_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_cranberry_juice" ] }, { "name": "bottle__of__degreaser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_degreaser" ] }, { "name": "bottle__of__deicer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_deicer" ] }, { "name": "bottle__of__detergent.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_detergent" ] }, { "name": "bottle__of__dish_soap.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_dish_soap" ] }, { "name": "bottle__of__disinfectant.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_disinfectant" ] }, { "name": "bottle__of__essential_oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_essential_oil" ] }, { "name": "bottle__of__fabric_softener.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_fabric_softener" ] }, { "name": "bottle__of__face_cream.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_face_cream" ] }, { "name": "bottle__of__fennel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_fennel" ] }, { "name": "bottle__of__food_coloring.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_food_coloring" ] }, { "name": "bottle__of__frosting.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_frosting" ] }, { "name": "bottle__of__fruit_punch.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_fruit_punch" ] }, { "name": "bottle__of__garlic_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_garlic_sauce" ] }, { "name": "bottle__of__gin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_gin" ] }, { "name": "bottle__of__ginger_beer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_ginger_beer" ] }, { "name": "bottle__of__ginger.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_ginger" ] }, { "name": "bottle__of__glass_cleaner.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_glass_cleaner" ] }, { "name": "bottle__of__glue.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_glue" ] }, { "name": "bottle__of__ground_cloves.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_ground_cloves" ] }, { "name": "bottle__of__ground_mace.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_ground_mace" ] }, { "name": "bottle__of__ground_nutmeg.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_ground_nutmeg" ] }, { "name": "bottle__of__hot_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_hot_sauce" ] }, { "name": "bottle__of__lacquer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_lacquer" ] }, { "name": "bottle__of__lavender_oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_lavender_oil" ] }, { "name": "bottle__of__lemon_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_lemon_juice" ] }, { "name": "bottle__of__lemon_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_lemon_sauce" ] }, { "name": "bottle__of__lemonade.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_lemonade" ] }, { "name": "bottle__of__lime_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_lime_juice" ] }, { "name": "bottle__of__liquid_soap.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_liquid_soap" ] }, { "name": "bottle__of__lotion.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_lotion" ] }, { "name": "bottle__of__lubricant.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_lubricant" ] }, { "name": "bottle__of__maple_syrup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_maple_syrup" ] }, { "name": "bottle__of__mayonnaise.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_mayonnaise" ] }, { "name": "bottle__of__medicine.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_medicine" ] }, { "name": "bottle__of__milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_milk" ] }, { "name": "bottle__of__milkshake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_milkshake" ] }, { "name": "bottle__of__molasses.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_molasses" ] }, { "name": "bottle__of__mushroom_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_mushroom_sauce" ] }, { "name": "bottle__of__mustard_seeds.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_mustard_seeds" ] }, { "name": "bottle__of__mustard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_mustard" ] }, { "name": "bottle__of__oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_oil" ] }, { "name": "bottle__of__olive_oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_olive_oil" ] }, { "name": "bottle__of__onion_powder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_onion_powder" ] }, { "name": "bottle__of__orange_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_orange_juice" ] }, { "name": "bottle__of__paint_remover.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_paint_remover" ] }, { "name": "bottle__of__paint.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_paint" ] }, { "name": "bottle__of__papaya_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_papaya_juice" ] }, { "name": "bottle__of__paprika.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_paprika" ] }, { "name": "bottle__of__parsley.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_parsley" ] }, { "name": "bottle__of__peanut_butter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_peanut_butter" ] }, { "name": "bottle__of__perfume.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_perfume" ] }, { "name": "bottle__of__pesticide.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_pesticide" ] }, { "name": "bottle__of__pesto.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_pesto" ] }, { "name": "bottle__of__pizza_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_pizza_sauce" ] }, { "name": "bottle__of__pop.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_pop" ] }, { "name": "bottle__of__poppy_seeds.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_poppy_seeds" ] }, { "name": "bottle__of__powder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_powder" ] }, { "name": "bottle__of__protein_powder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_protein_powder" ] }, { "name": "bottle__of__pumpkin_pie_spice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_pumpkin_pie_spice" ] }, { "name": "bottle__of__rosemary.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_rosemary" ] }, { "name": "bottle__of__rum.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_rum" ] }, { "name": "bottle__of__sage.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sage" ] }, { "name": "bottle__of__sake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sake" ] }, { "name": "bottle__of__salsa.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_salsa" ] }, { "name": "bottle__of__sangria.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sangria" ] }, { "name": "bottle__of__sealant.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sealant" ] }, { "name": "bottle__of__seasoning.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_seasoning" ] }, { "name": "bottle__of__sesame_oil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sesame_oil" ] }, { "name": "bottle__of__sesame_seeds.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sesame_seeds" ] }, { "name": "bottle__of__shampoo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_shampoo" ] }, { "name": "bottle__of__skin_cream.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_skin_cream" ] }, { "name": "bottle__of__soda.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_soda" ] }, { "name": "bottle__of__solvent.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_solvent" ] }, { "name": "bottle__of__soup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_soup" ] }, { "name": "bottle__of__sour_cream.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sour_cream" ] }, { "name": "bottle__of__soy_milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_soy_milk" ] }, { "name": "bottle__of__soy_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_soy_sauce" ] }, { "name": "bottle__of__spice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_spice" ] }, { "name": "bottle__of__sriracha.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sriracha" ] }, { "name": "bottle__of__sunscreen.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_sunscreen" ] }, { "name": "bottle__of__supplements.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_supplements" ] }, { "name": "bottle__of__tea_leaves.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_tea_leaves" ] }, { "name": "bottle__of__tea.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_tea" ] }, { "name": "bottle__of__tequila.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_tequila" ] }, { "name": "bottle__of__tomato_paste.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_tomato_paste" ] }, { "name": "bottle__of__tonic.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_tonic" ] }, { "name": "bottle__of__vinegar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_vinegar" ] }, { "name": "bottle__of__vodka.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_vodka" ] }, { "name": "bottle__of__water.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_water" ] }, { "name": "bottle__of__whiskey.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_whiskey" ] }, { "name": "bottle__of__wine.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bottle_of_wine" ] }, { "name": "box__of__almond_milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_almond_milk" ] }, { "name": "box__of__apple_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_apple_juice" ] }, { "name": "box__of__baking_mix.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_baking_mix" ] }, { "name": "box__of__baking_powder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_baking_powder" ] }, { "name": "box__of__baking_soda.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_baking_soda" ] }, { "name": "box__of__barley.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_barley" ] }, { "name": "box__of__beer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_beer" ] }, { "name": "box__of__brown_sugar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_brown_sugar" ] }, { "name": "box__of__butter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_butter" ] }, { "name": "box__of__candy.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_candy" ] }, { "name": "box__of__cane_sugar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_cane_sugar" ] }, { "name": "box__of__cereal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_cereal" ] }, { "name": "box__of__champagne.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_champagne" ] }, { "name": "box__of__chocolates.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_chocolates" ] }, { "name": "box__of__coconut_milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_coconut_milk" ] }, { "name": "box__of__coffee.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_coffee" ] }, { "name": "box__of__cookies.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_cookies" ] }, { "name": "box__of__corn_flakes.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_corn_flakes" ] }, { "name": "box__of__crackers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_crackers" ] }, { "name": "box__of__cream.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_cream" ] }, { "name": "box__of__flour.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_flour" ] }, { "name": "box__of__fruit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_fruit" ] }, { "name": "box__of__granola_bars.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_granola_bars" ] }, @@ -8103,308 +8103,308 @@ { "name": "box__of__ice_cream.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_ice_cream" ] }, { "name": "box__of__lasagna.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_lasagna" ] }, { "name": "box__of__lemons.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_lemons" ] }, { "name": "box__of__milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_milk" ] }, { "name": "box__of__oatmeal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_oatmeal" ] }, { "name": "box__of__raspberries.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_raspberries" ] }, { "name": "box__of__rice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_rice" ] }, { "name": "box__of__rum.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_rum" ] }, { "name": "box__of__sake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_sake" ] }, { "name": "box__of__salt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_salt" ] }, { "name": "box__of__sanitary_napkin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_sanitary_napkins" ] }, { "name": "box__of__shampoo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_shampoo" ] }, { "name": "box__of__takeout.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_takeout" ] }, { "name": "box__of__tissue.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_tissues" ] }, { "name": "box__of__tomato_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_tomato_juice" ] }, { "name": "box__of__vegetable_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_vegetable_juice" ] }, { "name": "box__of__whiskey.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_whiskey" ] }, { "name": "box__of__wine.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_wine" ] }, { "name": "box__of__yogurt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box_of_yogurt" ] }, { "name": "boxed__cake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boxed_cake" ] }, { "name": "bucket__of__paint.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bucket_of_paint" ] }, { "name": "can__of__baking_mix.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_baking_mix" ] }, { "name": "can__of__bay_leaves.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_bay_leaves" ] }, { "name": "can__of__beans.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_beans" ] }, { "name": "can__of__coffee.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_coffee" ] }, { "name": "can__of__corn.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_corn" ] }, { "name": "can__of__icetea.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_icetea" ] }, { "name": "can__of__oatmeal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_oatmeal" ] }, { "name": "can__of__sardines.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_sardines" ] }, { "name": "can__of__soda.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_soda" ] }, { "name": "can__of__tomato_paste.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_tomato_paste" ] }, { "name": "can__of__tomatoes.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "can_of_tomatoes" ] }, { "name": "carton__of__chocolate_milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carton_of_chocolate_milk" ] }, { "name": "carton__of__eggs.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carton_of_eggs" ] }, { "name": "carton__of__milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carton_of_milk" ] }, { "name": "carton__of__orange_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carton_of_orange_juice" ] }, { "name": "carton__of__pineapple_juice.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carton_of_pineapple_juice" ] }, { "name": "carton__of__soy_milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carton_of_soy_milk" ] }, { "name": "case__of__eyeshadow.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "case_of_eyeshadow" ] }, { "name": "case__of__pop.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pop_case" ] }, { "name": "cup__of__yogurt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cup_of_yogurt" ] }, { "name": "deodorant_stick.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "deodorant_stick" ] }, { "name": "gift_box.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gift_box" ] }, { "name": "jar__of__bath_salt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_bath_salt" ] }, @@ -8415,175 +8415,175 @@ { "name": "jar__of__cumin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_cumin" ] }, { "name": "jar__of__curry_powder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_curry_powder" ] }, { "name": "jar__of__dill_seed.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_dill_seed" ] }, { "name": "jar__of__grains.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_grains" ] }, { "name": "jar__of__honey.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_honey" ] }, { "name": "jar__of__ink.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_ink" ] }, { "name": "jar__of__jam.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_jam" ] }, { "name": "jar__of__jelly.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_jelly" ] }, { "name": "jar__of__mayonnaise.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_mayonnaise" ] }, { "name": "jar__of__orange_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_orange_sauce" ] }, { "name": "jar__of__pepper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_pepper" ] }, { "name": "jar__of__puree.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_puree" ] }, { "name": "jar__of__spaghetti_sauce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_spaghetti_sauce" ] }, { "name": "jar__of__sugar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jar_of_sugar" ] }, { "name": "jug__of__milk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jug_of_milk" ] }, { "name": "pack__of__bread.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pack_of_bread" ] }, { "name": "pack__of__cigarettes.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pack_of_cigarettes" ] }, { "name": "pack__of__chocolate_bar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pack_of_chocolate_bar" ] }, { "name": "pack__of__kielbasa.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pack_of_kielbasa" ] }, { "name": "pack__of__pasta.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pack_of_pasta" ] }, { "name": "pack__of__protein_powder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pack_of_protein_powder" ] }, { "name": "pack__of__ramen.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pack_of_ramen" ] }, { "name": "tube__of__lotion.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tube_of_lotion" ] }, { "name": "tube__of__toothpaste.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tube_of_toothpaste" ] }, { "name": "wrapped_hamburger.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wrapped_hamburger" ] }, @@ -8606,7 +8606,7 @@ { "name": "box__of__aluminium_foil.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "box__of__aluminium_foil" ] }, @@ -8631,21 +8631,21 @@ { "name": "boxed__cpu_board.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boxed_cpu_board" ] }, { "name": "boxed__ink_cartridge.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boxed_ink_cartridge" ] }, { "name": "boxed__router.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boxed_router" ] }, @@ -8660,21 +8660,21 @@ { "name": "clothes_dryer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "clothes_dryer" ] }, { "name": "hand_blower.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hair_dryer" ] }, { "name": "hand_dryer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hand_dryer" ] } @@ -8691,7 +8691,7 @@ { "name": "clothes_dryer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "clothes_dryer" ] }, @@ -8702,7 +8702,7 @@ { "name": "cooler.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cooler", "open_air_cooler" ] @@ -8710,14 +8710,14 @@ { "name": "deep-freeze.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "freezer" ] }, { "name": "electric_refrigerator.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "display_fridge", "fridge", "wine_fridge" @@ -8728,14 +8728,14 @@ { "name": "dishwasher.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dishwasher" ] }, { "name": "washer.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "washer" ] } @@ -8748,7 +8748,7 @@ { "name": "coffee_maker.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "coffee_maker", "french_press" ] @@ -8756,7 +8756,7 @@ { "name": "deep_fryer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "deep_fryer" ] }, @@ -8767,7 +8767,7 @@ { "name": "food_processor.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "food_processor" ] }, @@ -8778,21 +8778,21 @@ { "name": "microwave.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "microwave" ] }, { "name": "oven.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "oven" ] }, { "name": "stove.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "stove" ] }, @@ -8803,14 +8803,14 @@ { "name": "toaster.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "toaster" ] }, { "name": "waffle_iron.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "waffle_maker" ] } @@ -8819,42 +8819,42 @@ { "name": "iron.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "iron" ] }, { "name": "leaf_blower.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "leaf_blower" ] }, { "name": "paper_towel_dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_towel_dispenser" ] }, { "name": "power_washer.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "power_washer" ] }, { "name": "toilet_paper_dispenser.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toilet_paper_dispenser" ] }, { "name": "vacuum.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "vacuum" ] } @@ -8863,7 +8863,7 @@ { "name": "dehumidifier.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dehumidifier" ] } @@ -8892,14 +8892,14 @@ { "name": "bath_mat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bath_rug" ] }, { "name": "bath_towel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bath_towel" ] } @@ -8912,14 +8912,14 @@ { "name": "case.n.19", "hasModel": true, - "igibson_categories": [ + "categories": [ "pillowcase" ] }, { "name": "sheet.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "bedsheet", "sheet" ] @@ -8937,7 +8937,7 @@ { "name": "dinner_napkin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dinner_napkin" ] } @@ -8946,14 +8946,14 @@ { "name": "place_mat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "place_mat" ] }, { "name": "tablecloth.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "table_runner", "tablecloth" ] @@ -8991,7 +8991,7 @@ { "name": "apron.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "apron" ] } @@ -9008,7 +9008,7 @@ { "name": "baseball_cap.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "baseball_cap" ] } @@ -9017,7 +9017,7 @@ { "name": "hat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hat" ] } @@ -9034,14 +9034,14 @@ { "name": "batting_glove.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "batting_gloves" ] }, { "name": "goalkeeper_gloves.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "goalkeeper_gloves" ] }, @@ -9052,12 +9052,12 @@ { "name": "rubber_glove.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rubber_glove" ] } ], - "igibson_categories": [ + "categories": [ "glove" ] } @@ -9084,14 +9084,14 @@ { "name": "bikini.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "bikini" ] }, { "name": "maillot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "maillot" ] } @@ -9104,7 +9104,7 @@ { "name": "brassiere.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bra" ] }, @@ -9115,7 +9115,7 @@ { "name": "drawers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boxers" ] } @@ -9128,7 +9128,7 @@ { "name": "lingerie.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lingerie" ] } @@ -9143,14 +9143,14 @@ { "name": "cardigan.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cardigan" ] }, { "name": "crewneck_sweater.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "crewneck_sweater" ] }, @@ -9161,7 +9161,7 @@ { "name": "sweatshirt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hoodie", "sweatshirt" ] @@ -9173,7 +9173,7 @@ { "name": "diaper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "diaper" ] }, @@ -9184,14 +9184,14 @@ { "name": "dress_shirt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dress_shirt" ] }, { "name": "jersey.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "jersey", "t_shirt" ] @@ -9199,14 +9199,14 @@ { "name": "polo_shirt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "polo_shirt" ] }, { "name": "tank_top.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tank_top" ] } @@ -9227,14 +9227,14 @@ { "name": "jacket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jacket" ] }, { "name": "raincoat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "raincoat" ] }, @@ -9243,7 +9243,7 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "coat" ] }, @@ -9266,14 +9266,14 @@ { "name": "jean.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jeans" ] }, { "name": "long_trousers.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pants" ] }, @@ -9284,7 +9284,7 @@ { "name": "short_pants.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shorts" ] }, @@ -9297,7 +9297,7 @@ { "name": "jump_suit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "onesie" ] }, @@ -9308,14 +9308,14 @@ { "name": "legging.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "legging" ] }, { "name": "leotard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "leotard" ] }, @@ -9326,7 +9326,7 @@ { "name": "necktie.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "necktie" ] } @@ -9343,14 +9343,14 @@ { "name": "sweat_suit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sauna_suit" ] }, { "name": "vest.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "vest" ] } @@ -9367,7 +9367,7 @@ { "name": "blouse.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blouse" ] } @@ -9376,14 +9376,14 @@ { "name": "brassiere.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bra" ] }, { "name": "dress.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dress" ] } @@ -9406,7 +9406,7 @@ { "name": "gown.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceremonial_robe" ] } @@ -9423,7 +9423,7 @@ { "name": "jean.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jeans" ] } @@ -9448,7 +9448,7 @@ { "name": "pajama.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pajamas" ] } @@ -9465,7 +9465,7 @@ { "name": "sock.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sock", "socks" ] @@ -9473,14 +9473,14 @@ { "name": "stocking.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "stocking" ] }, { "name": "tights.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tights" ] } @@ -9505,7 +9505,7 @@ { "name": "gym_shoe.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gym_shoe", "sneakers" ] @@ -9513,7 +9513,7 @@ { "name": "sandal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sandal", "sandals" ] @@ -9521,26 +9521,26 @@ { "name": "slingback.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "slingback" ] }, { "name": "walker.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "walker" ] }, { "name": "walking_shoe.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "walking_shoe" ] } ], - "igibson_categories": [ + "categories": [ "shoe" ] }, @@ -9555,14 +9555,14 @@ { "name": "hiking_boot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hiking_boot" ] }, { "name": "rubber_boot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rubber_boot" ] }, @@ -9585,7 +9585,7 @@ { "name": "bandage.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bandage" ] } @@ -9598,7 +9598,7 @@ { "name": "blanket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blanket" ] }, @@ -9609,7 +9609,7 @@ { "name": "quilt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "quilt" ] }, @@ -9618,14 +9618,14 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "bedding" ] }, { "name": "skirt.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "skirt" ] } @@ -9638,7 +9638,7 @@ { "name": "binder.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "binder" ] }, @@ -9665,14 +9665,14 @@ { "name": "cloche.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cloche" ] }, { "name": "coaster.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "coaster" ] }, @@ -9683,21 +9683,21 @@ { "name": "curtain.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "curtain" ] }, { "name": "shutter.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "shutter" ] }, { "name": "window_blind.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "window_blind" ] } @@ -9710,7 +9710,7 @@ { "name": "face_mask.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "face_mask" ] } @@ -9727,14 +9727,14 @@ { "name": "garden_umbrella.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "garden_umbrella" ] }, { "name": "umbrella.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "umbrella" ] } @@ -9757,7 +9757,7 @@ { "name": "helmet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "work_helmet" ] } @@ -9780,7 +9780,7 @@ { "name": "lining.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_liners" ] }, @@ -9801,14 +9801,14 @@ { "name": "mulch.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mulch" ] }, { "name": "roof.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "roof" ] } @@ -9821,14 +9821,14 @@ { "name": "cap.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cap" ] }, { "name": "lid.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "lid" ] } @@ -9899,7 +9899,7 @@ { "name": "folder.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "folder" ] }, @@ -9910,14 +9910,14 @@ { "name": "lab_exhaust_hood.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lab_exhaust_hood" ] }, { "name": "range_hood.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "range_hood" ] } @@ -9934,7 +9934,7 @@ { "name": "rug.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "carpet" ] } @@ -9971,7 +9971,7 @@ { "name": "arbor.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "arbor", "pergola" ] @@ -9987,35 +9987,35 @@ { "name": "ceiling_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceiling_rack" ] }, { "name": "coatrack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "coatrack" ] }, { "name": "dish_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dish_rack" ] }, { "name": "drying_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "drying_rack" ] }, { "name": "free_weight_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "free_weight_rack" ] }, @@ -10026,35 +10026,35 @@ { "name": "shoe_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shoe_rack" ] }, { "name": "snack_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "snack_rack" ] }, { "name": "test_tube_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "test_tube_rack" ] }, { "name": "towel_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "towel_rack" ] }, { "name": "umbrella_rack.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "umbrella_rack" ] } @@ -10063,21 +10063,21 @@ { "name": "frame.n.10", "hasModel": true, - "igibson_categories": [ + "categories": [ "frame" ] }, { "name": "grate.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "firewood_grate" ] }, { "name": "grill.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "charcoal_grill", "grill", "smoker" @@ -10086,14 +10086,14 @@ { "name": "picture_frame.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "picture_frame" ] }, { "name": "window.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "arched_window", "window" ] @@ -10113,7 +10113,7 @@ { "name": "skeleton.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "skeletal_frame", "structural_element" ] @@ -10135,7 +10135,7 @@ { "name": "birdcage.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "birdcage" ] }, @@ -10156,7 +10156,7 @@ { "name": "carrel.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cubicle" ] } @@ -10165,7 +10165,7 @@ { "name": "fireplace.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "fireplace" ] } @@ -10178,7 +10178,7 @@ { "name": "terrarium.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "terrarium" ] } @@ -10197,7 +10197,7 @@ { "name": "cabinet.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "locker" ] }, @@ -10218,14 +10218,14 @@ { "name": "farm_stand.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "farm_stand" ] }, { "name": "shower_stall.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shower_stall" ] } @@ -10242,7 +10242,7 @@ { "name": "cupboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "grocery_cupboard" ] } @@ -10265,7 +10265,7 @@ { "name": "chicken_coop.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chicken_coop" ] } @@ -10304,21 +10304,21 @@ { "name": "door.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "door" ] }, { "name": "elevator_door.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "elevator_door" ] }, { "name": "gate.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "garage_door", "gate" ] @@ -10326,7 +10326,7 @@ { "name": "turnstile.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "turnstile" ] } @@ -10343,19 +10343,19 @@ { "name": "rail_fence.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rail_fence" ] } ], - "igibson_categories": [ + "categories": [ "fence" ] }, { "name": "railing.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "railing" ] } @@ -10366,14 +10366,14 @@ { "name": "drinking_fountain.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "drinking_fountain" ] }, { "name": "fountain.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "fountain" ] }, @@ -10384,7 +10384,7 @@ { "name": "gravestone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "headstone" ] } @@ -10401,7 +10401,7 @@ { "name": "plywood.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "plywood" ] } @@ -10416,7 +10416,7 @@ { "name": "scoreboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "scoreboard" ] } @@ -10429,7 +10429,7 @@ { "name": "screen.n.09", "hasModel": true, - "igibson_categories": [ + "categories": [ "bed_screen", "room_divider" ] @@ -10437,7 +10437,7 @@ { "name": "wall.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "walls" ] } @@ -10450,7 +10450,7 @@ { "name": "tent.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tent" ] } @@ -10497,7 +10497,7 @@ { "name": "backdrop.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "background" ] } @@ -10512,7 +10512,7 @@ { "name": "globe.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "globe" ] }, @@ -10527,7 +10527,7 @@ { "name": "mannequin.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "mannequin" ] } @@ -10540,7 +10540,7 @@ { "name": "nativity_figurine.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "nativity_figurine" ] } @@ -10551,7 +10551,7 @@ { "name": "mock-up.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "classroom_mock_up" ] } @@ -10564,7 +10564,7 @@ { "name": "letter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "letter" ] } @@ -10573,14 +10573,14 @@ { "name": "map.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "map" ] }, { "name": "photograph.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "picture" ] }, @@ -10591,7 +10591,7 @@ { "name": "plan.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "architectural_plan" ] } @@ -10634,13 +10634,13 @@ { "name": "statue.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "garden_statue", "statue" ] } ], - "igibson_categories": [ + "categories": [ "sculpture" ] } @@ -10653,7 +10653,7 @@ { "name": "painting.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "canvas", "painting" ] @@ -10681,7 +10681,7 @@ { "name": "catalog.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "catalog" ] }, @@ -10698,7 +10698,7 @@ { "name": "textbook.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "textbook" ] } @@ -10711,7 +10711,7 @@ { "name": "comic_book.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "comic_book" ] } @@ -10728,14 +10728,14 @@ { "name": "hardback.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hardback" ] }, { "name": "notebook.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "notebook" ] }, @@ -10746,7 +10746,7 @@ { "name": "paperback_book.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paperback_book" ] } @@ -10755,14 +10755,14 @@ { "name": "magazine.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "magazine" ] }, { "name": "newspaper.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "newspaper" ] } @@ -10785,7 +10785,7 @@ { "name": "bandanna.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bandana" ] } @@ -10798,28 +10798,28 @@ { "name": "bath_towel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bath_towel" ] }, { "name": "dishtowel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dishtowel" ] }, { "name": "hand_towel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hand_towel" ] }, { "name": "paper_towel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_towel" ] } @@ -10836,7 +10836,7 @@ { "name": "rag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "microfiber_cloth" ] } @@ -10869,7 +10869,7 @@ { "name": "chicken_wire.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chicken_wire" ] } @@ -10902,7 +10902,7 @@ { "name": "tarpaulin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tarp" ] } @@ -10941,14 +10941,14 @@ { "name": "banner.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hanging_banners" ] }, { "name": "national_flag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "national_flag" ] } @@ -10975,7 +10975,7 @@ { "name": "baseboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "baseboard" ] } @@ -10988,14 +10988,14 @@ { "name": "bouquet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bouquet" ] }, { "name": "wreath.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "valentine_wreath", "wreath" ] @@ -11005,7 +11005,7 @@ { "name": "bow.n.08", "hasModel": true, - "igibson_categories": [ + "categories": [ "bow" ] }, @@ -11020,7 +11020,7 @@ { "name": "bracelet.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "bracelet" ] }, @@ -11031,21 +11031,21 @@ { "name": "diamond.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "diamond" ] }, { "name": "pearl.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pearl" ] }, { "name": "ruby.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ruby" ] } @@ -11054,14 +11054,14 @@ { "name": "necklace.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "necklace" ] }, { "name": "ring.n.08", "hasModel": true, - "igibson_categories": [ + "categories": [ "ring" ] } @@ -11070,7 +11070,7 @@ { "name": "tassel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tassel" ] } @@ -11079,14 +11079,14 @@ { "name": "centerpiece.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "centerpiece" ] }, { "name": "christmas_tree.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "christmas_tree", "christmas_tree_decorated" ] @@ -11094,7 +11094,7 @@ { "name": "folderal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "folderal" ] }, @@ -11117,7 +11117,7 @@ { "name": "meringue.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "meringue" ] }, @@ -11132,7 +11132,7 @@ { "name": "holly.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "holly_decoration" ] }, @@ -11143,12 +11143,12 @@ { "name": "wind_chime.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wind_chime" ] } ], - "igibson_categories": [ + "categories": [ "decoration" ] }, @@ -11179,7 +11179,7 @@ { "name": "toothpick.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toothpick" ] } @@ -11212,21 +11212,21 @@ { "name": "gravestone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "headstone" ] }, { "name": "paving_stone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paver" ] }, { "name": "whetstone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "whetstone" ] } @@ -11277,14 +11277,14 @@ { "name": "car_tire.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "car_tire" ] }, { "name": "whitewall_tire.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "whitewall_tire" ] } @@ -11331,21 +11331,21 @@ { "name": "cellulose_tape.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cellulose_tape" ] }, { "name": "duct_tape.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "duct_tape" ] }, { "name": "masking_tape.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "masking_tape" ] } @@ -11378,14 +11378,14 @@ { "name": "casserole.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "casserole" ] }, { "name": "gravy_boat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gravy_boat" ] }, @@ -11396,7 +11396,7 @@ { "name": "mixing_bowl.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mixing_bowl" ] }, @@ -11409,7 +11409,7 @@ { "name": "petri_dish.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "petri_dish" ] } @@ -11426,14 +11426,14 @@ { "name": "coffee_cup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "coffee_cup" ] }, { "name": "dixie_cup.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_cup", "soda_cup" ] @@ -11441,12 +11441,12 @@ { "name": "teacup.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "teacup" ] } ], - "igibson_categories": [ + "categories": [ "cup" ] } @@ -11455,7 +11455,7 @@ { "name": "chopstick.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chopstick" ] }, @@ -11478,26 +11478,26 @@ { "name": "tablespoon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "tablespoon" ] }, { "name": "teaspoon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "teaspoon" ] }, { "name": "wooden_spoon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "wooden_spoon" ] } ], - "igibson_categories": [ + "categories": [ "spoon" ] }, @@ -11512,14 +11512,14 @@ { "name": "tablefork.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tablefork" ] }, { "name": "toasting_fork.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toasting_fork" ] } @@ -11528,7 +11528,7 @@ { "name": "table_knife.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "table_knife" ] } @@ -11545,21 +11545,21 @@ { "name": "plate.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "plate" ] }, { "name": "platter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "platter" ] }, { "name": "saucer.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "saucer" ] } @@ -11574,7 +11574,7 @@ { "name": "wooden_spoon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "wooden_spoon" ] } @@ -11599,7 +11599,7 @@ { "name": "ceiling.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceilings" ] } @@ -11618,7 +11618,7 @@ { "name": "clipboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "clipboard" ] } @@ -11631,7 +11631,7 @@ { "name": "countertop.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "countertop" ] } @@ -11646,14 +11646,14 @@ { "name": "dartboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dartboard" ] }, { "name": "pegboard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pegboard" ] } @@ -11666,7 +11666,7 @@ { "name": "floor.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "floors" ] }, @@ -11677,7 +11677,7 @@ { "name": "pallet.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pallet" ] } @@ -11688,7 +11688,7 @@ { "name": "screen.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "projection_screen" ] } @@ -11705,7 +11705,7 @@ { "name": "chandelier.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chandelier" ] } @@ -11718,14 +11718,14 @@ { "name": "shower.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shower" ] }, { "name": "sink.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "commercial_kitchen_sink", "sink" ] @@ -11733,21 +11733,21 @@ { "name": "toilet.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "toilet" ] }, { "name": "urinal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "urinal" ] }, { "name": "water_faucet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "water_faucet" ] } @@ -11756,7 +11756,7 @@ { "name": "soap_dish.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "soap_dish" ] } @@ -11777,14 +11777,14 @@ { "name": "die.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dice" ] }, { "name": "ice_cube.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ice_cube" ] } @@ -11797,7 +11797,7 @@ { "name": "tile.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ceramic_tile", "tile" ] @@ -11817,7 +11817,7 @@ { "name": "clothesline.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "clothesline" ] }, @@ -11828,21 +11828,21 @@ { "name": "cotton.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "cotton_thread" ] }, { "name": "dental_floss.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dental_floss" ] }, { "name": "tinsel.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "tinsel" ] } @@ -11855,7 +11855,7 @@ { "name": "string.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "twine" ] }, @@ -11872,7 +11872,7 @@ { "name": "rope.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rope" ] } @@ -11885,7 +11885,7 @@ { "name": "doll.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "doll" ] }, @@ -11896,7 +11896,7 @@ { "name": "dreidel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dreidel" ] } @@ -11909,47 +11909,47 @@ { "name": "sandbox.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "sandbox" ] }, { "name": "snow_globe.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "snow_globe" ] }, { "name": "swing.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "swing" ] }, { "name": "teddy.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "teddy_bear" ] }, { "name": "toy_figure.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toy_figure" ] }, { "name": "train_set.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toy_train" ] } ], - "igibson_categories": [ + "categories": [ "toy" ] }, @@ -11964,7 +11964,7 @@ { "name": "driveway.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "driveway" ] } @@ -11989,28 +11989,28 @@ { "name": "pipe.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tobacco_pipe" ] }, { "name": "pipe.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pipe" ] }, { "name": "straw.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "straw" ] }, { "name": "test_tube.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "test_tube" ] } @@ -12031,7 +12031,7 @@ { "name": "ladder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ladder" ] } @@ -12048,7 +12048,7 @@ { "name": "globe.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "globe" ] } @@ -12065,7 +12065,7 @@ { "name": "life_jacket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "life_jacket" ] } @@ -12088,7 +12088,7 @@ { "name": "mattress.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mattress" ] }, @@ -12099,19 +12099,19 @@ { "name": "mousepad.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mousepad" ] }, { "name": "place_mat.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "place_mat" ] } ], - "igibson_categories": [ + "categories": [ "mat" ] }, @@ -12132,7 +12132,7 @@ { "name": "pillow.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pillow" ] } @@ -12165,7 +12165,7 @@ { "name": "showerhead.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "showerhead" ] } @@ -12196,7 +12196,7 @@ { "name": "swimming_pool.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "swimming_pool" ] } @@ -12215,14 +12215,14 @@ { "name": "swimming_pool.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "swimming_pool" ] }, { "name": "wading_pool.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wading_pool" ] } @@ -12279,7 +12279,7 @@ { "name": "almond.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "almond" ] }, @@ -12290,14 +12290,14 @@ { "name": "blackberry.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blackberry" ] }, { "name": "raspberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "raspberries", "raspberry" ] @@ -12307,35 +12307,35 @@ { "name": "cherry.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "cherry" ] }, { "name": "half__plum.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_plum" ] }, { "name": "olive.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "olive" ] }, { "name": "peach.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "peach" ] }, { "name": "plum.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "plum" ] } @@ -12356,84 +12356,84 @@ { "name": "almond.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "almond" ] }, { "name": "cashew.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cashew" ] }, { "name": "chestnut.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "chestnut" ] }, { "name": "coconut.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "coconut_fruit" ] }, { "name": "half__chestnut.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_chestnut" ] }, { "name": "half__coconut.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_coconut_fruit" ] }, { "name": "hazelnut.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hazelnut" ] }, { "name": "peanut.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "peanut_nut" ] }, { "name": "pecan.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "pecan" ] }, { "name": "pine_nut.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pine_nut" ] }, { "name": "pistachio.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pistachio" ] }, { "name": "walnut.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "walnut" ] } @@ -12468,14 +12468,14 @@ { "name": "pumpkin_seed.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pumpkin_seed" ] }, { "name": "sunflower_seed.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sunflower_seed" ] } @@ -12484,7 +12484,7 @@ { "name": "coffee_bean.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "coffee_bean" ] } @@ -12497,28 +12497,28 @@ { "name": "apple.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "apple" ] }, { "name": "apricot.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "apricot" ] }, { "name": "avocado.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "avocado" ] }, { "name": "banana.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "banana", "bunch_of_bananas" ] @@ -12530,21 +12530,21 @@ { "name": "blackberry.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blackberry" ] }, { "name": "blueberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "blueberry" ] }, { "name": "cranberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cranberry", "dried_cranberry" ] @@ -12556,7 +12556,7 @@ { "name": "gooseberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "gooseberry" ] } @@ -12565,7 +12565,7 @@ { "name": "raspberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "raspberries", "raspberry" ] @@ -12573,7 +12573,7 @@ { "name": "strawberry.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "strawberries", "strawberry" ] @@ -12591,7 +12591,7 @@ { "name": "cantaloup.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cantaloup" ] } @@ -12604,21 +12604,21 @@ { "name": "half__watermelon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_watermelon" ] }, { "name": "sliced__melon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_melon" ] }, { "name": "watermelon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "watermelon" ] } @@ -12627,14 +12627,14 @@ { "name": "cherry.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "cherry" ] }, { "name": "date.n.08", "hasModel": true, - "igibson_categories": [ + "categories": [ "date" ] }, @@ -12661,14 +12661,14 @@ { "name": "grapefruit.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "grapefruit" ] }, { "name": "half__lemon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_lemon" ] }, @@ -12679,56 +12679,56 @@ { "name": "half__orange.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_orange" ] }, { "name": "half__pomelo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_pomelo" ] }, { "name": "lemon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lemon" ] }, { "name": "lime.n.06", "hasModel": true, - "igibson_categories": [ + "categories": [ "lime" ] }, { "name": "orange.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "orange" ] }, { "name": "pomelo.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pomelo" ] }, { "name": "sliced__lemon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_lemon" ] }, { "name": "sliced__lime.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_lime" ] } @@ -12749,14 +12749,14 @@ { "name": "dried_apricot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dried_apricot" ] }, { "name": "raisin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "raisin" ] } @@ -12765,21 +12765,21 @@ { "name": "durian.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "durian" ] }, { "name": "grape.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "grape" ] }, { "name": "half__apple.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_apple" ] }, @@ -12790,84 +12790,84 @@ { "name": "half__pineapple.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_pineapple" ] }, { "name": "half__pomegranate.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_pomegranate" ] }, { "name": "kiwi.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "kiwi" ] }, { "name": "mango.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "mango" ] }, { "name": "nectarine.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "nectarine" ] }, { "name": "papaya.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "papaya" ] }, { "name": "peach.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "peach" ] }, { "name": "pear.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pear" ] }, { "name": "pineapple.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pineapple" ] }, { "name": "plum.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "plum" ] }, { "name": "pomegranate.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pomegranate" ] }, { "name": "sliced__papaya.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_papaya" ] } @@ -12880,14 +12880,14 @@ { "name": "apple.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "apple" ] }, { "name": "pear.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pear" ] } @@ -12900,7 +12900,7 @@ { "name": "cranberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cranberry", "dried_cranberry" ] @@ -12914,7 +12914,7 @@ { "name": "hip.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "rosehip" ] }, @@ -12925,7 +12925,7 @@ { "name": "peanut.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "peanut" ] } @@ -12936,7 +12936,7 @@ { "name": "flower.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "flower" ] }, @@ -12947,7 +12947,7 @@ { "name": "pinecone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pine_cone" ] } @@ -12978,14 +12978,14 @@ { "name": "branch.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "branch" ] }, { "name": "cutting.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "plant_stem" ] }, @@ -13012,14 +13012,14 @@ { "name": "entire_leaf.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "leaf" ] }, { "name": "greenery.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "greenery" ] }, @@ -13040,7 +13040,7 @@ { "name": "petal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "flower_petal" ] } @@ -13063,14 +13063,14 @@ { "name": "boulder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "boulder" ] }, { "name": "crystal.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "crystal" ] }, @@ -13081,12 +13081,12 @@ { "name": "whiskey_stone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "whiskey_stone" ] } ], - "igibson_categories": [ + "categories": [ "rock" ] }, @@ -13101,7 +13101,7 @@ { "name": "cinnamon_bark.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cinnamon_stick" ] } @@ -13114,7 +13114,7 @@ { "name": "feather.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "feather" ] } @@ -13135,7 +13135,7 @@ { "name": "pea_pod.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pea_pod" ] } @@ -13166,7 +13166,7 @@ { "name": "seashell.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "seashell" ] } @@ -13231,7 +13231,7 @@ { "name": "bunchgrass.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bunchgrass" ] } @@ -13298,7 +13298,7 @@ { "name": "butternut_squash.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "butternut_squash" ] } @@ -13347,7 +13347,7 @@ { "name": "ivy.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ivy" ] } @@ -13360,14 +13360,14 @@ { "name": "cactus.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cactus" ] }, { "name": "echeveria_elegans.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "echeveria_elegans" ] }, @@ -13392,7 +13392,7 @@ { "name": "chives.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chives" ] } @@ -13401,14 +13401,14 @@ { "name": "lily.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lily" ] }, { "name": "tulip.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tulip" ] } @@ -13441,14 +13441,14 @@ { "name": "dahlia.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dahlia_flower" ] }, { "name": "marigold.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "marigold" ] }, @@ -13463,7 +13463,7 @@ { "name": "sunflower.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sunflower" ] }, @@ -13474,7 +13474,7 @@ { "name": "vanilla.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "vanilla_flower" ] } @@ -13515,7 +13515,7 @@ { "name": "rose.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rose" ] } @@ -13524,7 +13524,7 @@ { "name": "tree.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tree" ] } @@ -13533,7 +13533,7 @@ { "name": "weed.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "weed" ] } @@ -13542,14 +13542,14 @@ { "name": "garden_plant.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "garden_plant" ] }, { "name": "pot_plant.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hanging_basket", "hanging_plant", "pot_plant" @@ -13568,7 +13568,7 @@ { "name": "alga.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "algae" ] } @@ -13607,7 +13607,7 @@ { "name": "shiitake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shiitake" ] } @@ -13686,7 +13686,7 @@ { "name": "bandanna.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bandana" ] } @@ -13699,28 +13699,28 @@ { "name": "bath_towel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bath_towel" ] }, { "name": "dishtowel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dishtowel" ] }, { "name": "hand_towel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hand_towel" ] }, { "name": "paper_towel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_towel" ] } @@ -13737,7 +13737,7 @@ { "name": "rag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "microfiber_cloth" ] } @@ -13756,7 +13756,7 @@ { "name": "burner.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "burner" ] } @@ -13793,7 +13793,7 @@ { "name": "wall_socket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "outlet", "power_strip", "wall_socket" @@ -13814,7 +13814,7 @@ { "name": "handle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "handle", "l_shaped_handle" ] @@ -13874,7 +13874,7 @@ { "name": "lawn.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lawn" ] }, @@ -13885,7 +13885,7 @@ { "name": "playground.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "playground" ] } @@ -13942,7 +13942,7 @@ { "name": "turf.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sod" ] } @@ -14029,7 +14029,7 @@ { "name": "paraffin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paraffin_wax" ] }, @@ -14088,7 +14088,7 @@ { "name": "shortening.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shortening" ] } @@ -14133,7 +14133,7 @@ { "name": "butane.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lighter_fluid" ] } @@ -14194,7 +14194,7 @@ { "name": "bar_soap.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bar_soap" ] }, @@ -14215,7 +14215,7 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "soap" ] }, @@ -14230,7 +14230,7 @@ { "name": "shampoo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shampoo" ] }, @@ -14391,7 +14391,7 @@ { "name": "gunpowder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gunpowder" ] }, @@ -14406,14 +14406,14 @@ { "name": "skyrocket.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "skyrocket" ] }, { "name": "sparkler.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "sparkler" ] } @@ -14462,7 +14462,7 @@ { "name": "fecal_matter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "poop" ] } @@ -14485,7 +14485,7 @@ { "name": "bamboo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bamboo" ] }, @@ -14496,7 +14496,7 @@ { "name": "log.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "log" ] }, @@ -14511,7 +14511,7 @@ { "name": "wood_chip.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wood_chip" ] } @@ -14538,14 +14538,14 @@ { "name": "cigar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cigar" ] }, { "name": "cigarette.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cigarette" ] } @@ -14560,7 +14560,7 @@ { "name": "cotton.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cotton_ball" ] }, @@ -14591,7 +14591,7 @@ { "name": "feather.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "feather" ] }, @@ -14620,7 +14620,7 @@ { "name": "chalk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chalk" ] } @@ -14635,7 +14635,7 @@ { "name": "quartz.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "quartz" ] } @@ -14656,7 +14656,7 @@ { "name": "card.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "cardstock" ] } @@ -14669,14 +14669,14 @@ { "name": "notepad.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "notepad" ] }, { "name": "sticky_note.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sticky_note" ] } @@ -14701,7 +14701,7 @@ { "name": "sheet.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_sheet" ] }, @@ -14712,7 +14712,7 @@ { "name": "toilet_tissue.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toilet_paper" ] } @@ -14721,7 +14721,7 @@ { "name": "wallpaper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wallpaper" ] }, @@ -14732,7 +14732,7 @@ { "name": "wrapping_paper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wrapping_paper" ] } @@ -14749,7 +14749,7 @@ { "name": "card.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "cardstock" ] } @@ -14772,7 +14772,7 @@ { "name": "cotton.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cotton_ball" ] }, @@ -14791,7 +14791,7 @@ { "name": "loofa.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "loofah" ] } @@ -14852,7 +14852,7 @@ { "name": "steel_wool.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "steel_wool" ] } @@ -14995,7 +14995,7 @@ { "name": "sponge.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sponge" ] } @@ -15666,14 +15666,14 @@ { "name": "olive.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "olive" ] }, { "name": "pickle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pickle" ] } @@ -15704,14 +15704,14 @@ { "name": "chinese_anise.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "star_anise" ] }, { "name": "cinnamon.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "cinnamon" ] }, @@ -15748,7 +15748,7 @@ { "name": "basil.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "basil", "basil_leaf" ] @@ -15756,7 +15756,7 @@ { "name": "bay_leaf.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bay_leaf" ] }, @@ -15767,7 +15767,7 @@ { "name": "coriander.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "cilantro" ] }, @@ -15778,14 +15778,14 @@ { "name": "green_tea.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "green_tea" ] }, { "name": "tea_bag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tea_bag" ] } @@ -15798,7 +15798,7 @@ { "name": "mint.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "mint", "mint_leaf" ] @@ -15806,14 +15806,14 @@ { "name": "parsley.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "parsley" ] }, { "name": "rosemary.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "rosemary" ] }, @@ -15844,7 +15844,7 @@ { "name": "bouillon_cube.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bouillon_cube" ] }, @@ -15879,7 +15879,7 @@ { "name": "lump_sugar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sugar_cube" ] } @@ -15936,7 +15936,7 @@ { "name": "clove.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "clove" ] }, @@ -15951,7 +15951,7 @@ { "name": "whole_garlic.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "garlic" ] } @@ -15992,7 +15992,7 @@ { "name": "ginger.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "ginger_root" ] }, @@ -16117,7 +16117,7 @@ { "name": "sweet_corn.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "sweet_corn" ] } @@ -16186,7 +16186,7 @@ { "name": "bagel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bagel" ] }, @@ -16197,14 +16197,14 @@ { "name": "cinnamon_roll.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cinnamon_roll" ] }, { "name": "danish.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cheese_danish" ] } @@ -16213,26 +16213,26 @@ { "name": "crescent_roll.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "croissant" ] }, { "name": "frankfurter_bun.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hotdog_bun" ] }, { "name": "hamburger_bun.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hamburger_bun" ] } ], - "igibson_categories": [ + "categories": [ "bun" ] }, @@ -16247,7 +16247,7 @@ { "name": "baguet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "baguette" ] } @@ -16262,14 +16262,14 @@ { "name": "banana_bread.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "banana_bread" ] }, { "name": "biscuit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "biscuit" ] }, @@ -16280,14 +16280,14 @@ { "name": "muffin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "muffin" ] }, { "name": "scone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "scone" ] } @@ -16308,7 +16308,7 @@ { "name": "crouton.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "crouton" ] }, @@ -16343,7 +16343,7 @@ { "name": "pretzel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pretzel" ] } @@ -16352,40 +16352,40 @@ { "name": "sour_bread.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sourdough" ] }, { "name": "toast.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toast" ] } ], - "igibson_categories": [ + "categories": [ "bread" ] }, { "name": "french_fries.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "french_fries" ] }, { "name": "mashed_potato.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "mashed_potatoes" ] }, { "name": "potato.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "potato" ] } @@ -16414,7 +16414,7 @@ { "name": "cookie_dough.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cookie_dough" ] }, @@ -16553,7 +16553,7 @@ { "name": "feta.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "feta" ] }, @@ -16592,7 +16592,7 @@ { "name": "swiss_cheese.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "swiss_cheese" ] } @@ -16601,7 +16601,7 @@ { "name": "butter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "butter" ] }, @@ -16658,7 +16658,7 @@ { "name": "canned_food.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "canned_food" ] }, @@ -16727,7 +16727,7 @@ { "name": "egg.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "egg" ] }, @@ -16784,7 +16784,7 @@ { "name": "blueberry_mousse.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blueberry_mousse" ] } @@ -16811,7 +16811,7 @@ { "name": "tiramisu.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tiramisu" ] } @@ -16838,21 +16838,21 @@ { "name": "arepa.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "arepa" ] }, { "name": "club_sandwich.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "club_sandwich" ] }, { "name": "hamburger.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hamburger" ] }, @@ -16865,7 +16865,7 @@ { "name": "chip.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "chip" ] }, @@ -16876,7 +16876,7 @@ { "name": "tortilla_chip.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tortilla_chips" ] } @@ -16955,7 +16955,7 @@ { "name": "burrito.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "burrito" ] }, @@ -16992,7 +16992,7 @@ { "name": "french_toast.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "french_toast" ] }, @@ -17013,7 +17013,7 @@ { "name": "kabob.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "kabob", "kebab" ] @@ -17025,21 +17025,21 @@ { "name": "lasagna.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lasagna" ] }, { "name": "macaroni_and_cheese.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mac_and_cheese" ] }, { "name": "spaghetti.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "spaghetti" ] } @@ -17066,7 +17066,7 @@ { "name": "omelet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "omelet" ] }, @@ -17081,7 +17081,7 @@ { "name": "pizza.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pizza" ] }, @@ -17104,7 +17104,7 @@ { "name": "risotto.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "risotto" ] }, @@ -17119,21 +17119,21 @@ { "name": "scrambled_eggs.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "scrambled_eggs" ] }, { "name": "sushi.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sushi" ] }, { "name": "taco.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "taco" ] } @@ -17154,7 +17154,7 @@ { "name": "candy_cane.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "candy_cane" ] }, @@ -17165,7 +17165,7 @@ { "name": "chocolate_kiss.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chocolate_chip" ] } @@ -17174,28 +17174,28 @@ { "name": "easter_egg.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "easter_egg" ] }, { "name": "jelly_bean.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jelly_bean" ] }, { "name": "lollipop.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "lollipop" ] }, { "name": "marshmallow.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "marshmallow" ] }, @@ -17206,14 +17206,14 @@ { "name": "peppermint.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "peppermint_candy" ] } ] } ], - "igibson_categories": [ + "categories": [ "candy" ] }, @@ -17566,7 +17566,7 @@ { "name": "bird_feed.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "birdseed" ] }, @@ -17581,7 +17581,7 @@ { "name": "dog_food.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dog_food" ] }, @@ -17598,7 +17598,7 @@ { "name": "hay.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "haystack" ] } @@ -17677,7 +17677,7 @@ { "name": "lip_balm.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lip_balm" ] } @@ -17702,7 +17702,7 @@ { "name": "pill.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pill" ] } @@ -17883,14 +17883,14 @@ { "name": "cigar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cigar" ] }, { "name": "cigarette.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cigarette" ] } @@ -17957,7 +17957,7 @@ { "name": "butane.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lighter_fluid" ] }, @@ -17978,7 +17978,7 @@ { "name": "firewood.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "firewood" ] }, @@ -18043,7 +18043,7 @@ { "name": "apple_pie.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "apple_pie" ] }, @@ -18054,21 +18054,21 @@ { "name": "cheese_tart.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cheese_tart" ] }, { "name": "quiche.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "quiche" ] }, { "name": "tartlet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tartlet" ] } @@ -18101,7 +18101,7 @@ { "name": "bagel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bagel" ] }, @@ -18112,14 +18112,14 @@ { "name": "cinnamon_roll.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cinnamon_roll" ] }, { "name": "danish.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cheese_danish" ] } @@ -18128,26 +18128,26 @@ { "name": "crescent_roll.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "croissant" ] }, { "name": "frankfurter_bun.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hotdog_bun" ] }, { "name": "hamburger_bun.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "hamburger_bun" ] } ], - "igibson_categories": [ + "categories": [ "bun" ] }, @@ -18162,7 +18162,7 @@ { "name": "baguet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "baguette" ] } @@ -18177,14 +18177,14 @@ { "name": "banana_bread.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "banana_bread" ] }, { "name": "biscuit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "biscuit" ] }, @@ -18195,14 +18195,14 @@ { "name": "muffin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "muffin" ] }, { "name": "scone.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "scone" ] } @@ -18223,7 +18223,7 @@ { "name": "crouton.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "crouton" ] }, @@ -18258,7 +18258,7 @@ { "name": "pretzel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pretzel" ] } @@ -18267,19 +18267,19 @@ { "name": "sour_bread.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sourdough" ] }, { "name": "toast.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toast" ] } ], - "igibson_categories": [ + "categories": [ "bread" ] }, @@ -18294,42 +18294,42 @@ { "name": "brownie.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "brownie" ] }, { "name": "butter_cookie.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "butter_cookie" ] }, { "name": "chocolate_biscuit.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chocolate_biscuit" ] }, { "name": "chocolate_chip_cookie.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chocolate_chip_cookie" ] }, { "name": "granola_bar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "granola_bar" ] }, { "name": "macaroon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "macaron" ] }, @@ -18344,7 +18344,7 @@ { "name": "wafer.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "wafer" ] } @@ -18357,7 +18357,7 @@ { "name": "buttermilk_pancake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "buttermilk_pancake" ] }, @@ -18368,7 +18368,7 @@ { "name": "tortilla.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "tortilla" ] } @@ -18377,21 +18377,21 @@ { "name": "cheesecake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cheesecake" ] }, { "name": "chocolate_cake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chocolate_cake" ] }, { "name": "cupcake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cupcake" ] }, @@ -18402,7 +18402,7 @@ { "name": "doughnut.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "donut" ] } @@ -18411,21 +18411,21 @@ { "name": "fruitcake.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "fruitcake" ] }, { "name": "gingerbread.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gingerbread" ] }, { "name": "sliced__chocolate_cake.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_chocolate_cake" ] }, @@ -18436,7 +18436,7 @@ { "name": "waffle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "waffle" ] } @@ -18455,28 +18455,28 @@ { "name": "apple.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "apple" ] }, { "name": "apricot.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "apricot" ] }, { "name": "avocado.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "avocado" ] }, { "name": "banana.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "banana", "bunch_of_bananas" ] @@ -18488,21 +18488,21 @@ { "name": "blackberry.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "blackberry" ] }, { "name": "blueberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "blueberry" ] }, { "name": "cranberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cranberry", "dried_cranberry" ] @@ -18514,7 +18514,7 @@ { "name": "gooseberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "gooseberry" ] } @@ -18523,7 +18523,7 @@ { "name": "raspberry.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "raspberries", "raspberry" ] @@ -18531,7 +18531,7 @@ { "name": "strawberry.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "strawberries", "strawberry" ] @@ -18549,7 +18549,7 @@ { "name": "cantaloup.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cantaloup" ] } @@ -18562,21 +18562,21 @@ { "name": "half__watermelon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_watermelon" ] }, { "name": "sliced__melon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_melon" ] }, { "name": "watermelon.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "watermelon" ] } @@ -18585,14 +18585,14 @@ { "name": "cherry.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "cherry" ] }, { "name": "date.n.08", "hasModel": true, - "igibson_categories": [ + "categories": [ "date" ] }, @@ -18619,14 +18619,14 @@ { "name": "grapefruit.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "grapefruit" ] }, { "name": "half__lemon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_lemon" ] }, @@ -18637,56 +18637,56 @@ { "name": "half__orange.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_orange" ] }, { "name": "half__pomelo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_pomelo" ] }, { "name": "lemon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lemon" ] }, { "name": "lime.n.06", "hasModel": true, - "igibson_categories": [ + "categories": [ "lime" ] }, { "name": "orange.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "orange" ] }, { "name": "pomelo.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pomelo" ] }, { "name": "sliced__lemon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_lemon" ] }, { "name": "sliced__lime.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_lime" ] } @@ -18707,14 +18707,14 @@ { "name": "dried_apricot.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dried_apricot" ] }, { "name": "raisin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "raisin" ] } @@ -18723,21 +18723,21 @@ { "name": "durian.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "durian" ] }, { "name": "grape.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "grape" ] }, { "name": "half__apple.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_apple" ] }, @@ -18748,84 +18748,84 @@ { "name": "half__pineapple.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_pineapple" ] }, { "name": "half__pomegranate.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_pomegranate" ] }, { "name": "kiwi.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "kiwi" ] }, { "name": "mango.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "mango" ] }, { "name": "nectarine.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "nectarine" ] }, { "name": "papaya.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "papaya" ] }, { "name": "peach.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "peach" ] }, { "name": "pear.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pear" ] }, { "name": "pineapple.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pineapple" ] }, { "name": "plum.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "plum" ] }, { "name": "pomegranate.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pomegranate" ] }, { "name": "sliced__papaya.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_papaya" ] } @@ -18838,7 +18838,7 @@ { "name": "artichoke.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "artichoke" ] }, @@ -18853,14 +18853,14 @@ { "name": "arugula.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "arugula" ] }, { "name": "chopped__lettuce.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chopped_lettuce" ] }, @@ -18871,7 +18871,7 @@ { "name": "lettuce.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "lettuce" ] } @@ -18880,7 +18880,7 @@ { "name": "chard.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "chard" ] }, @@ -18899,7 +18899,7 @@ { "name": "spinach.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "spinach" ] } @@ -18908,7 +18908,7 @@ { "name": "asparagus.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "asparagus" ] }, @@ -18923,14 +18923,14 @@ { "name": "beefsteak_tomato.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "beefsteak_tomato" ] }, { "name": "cherry_tomato.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cherry_tomato" ] }, @@ -18945,7 +18945,7 @@ { "name": "half__beefsteak_tomato.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_beefsteak_tomato" ] }, @@ -18956,7 +18956,7 @@ { "name": "sliced__tomato.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_tomato" ] } @@ -18973,7 +18973,7 @@ { "name": "bell_pepper.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "bell_pepper" ] }, @@ -18998,7 +18998,7 @@ { "name": "chili.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "chili", "chili_pepper" ] @@ -19022,7 +19022,7 @@ { "name": "eggplant.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "eggplant" ] }, @@ -19033,7 +19033,7 @@ { "name": "potato.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "potato" ] } @@ -19046,14 +19046,14 @@ { "name": "beet.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "beet" ] }, { "name": "carrot.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "carrot" ] }, @@ -19084,21 +19084,21 @@ { "name": "parsnip.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "parsnip" ] }, { "name": "potato.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "potato" ] }, { "name": "radish.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "radish" ] }, @@ -19109,14 +19109,14 @@ { "name": "rutabaga.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rutabaga" ] }, { "name": "white_turnip.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "white_turnip" ] } @@ -19129,7 +19129,7 @@ { "name": "yam.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "candied_yam" ] } @@ -19152,7 +19152,7 @@ { "name": "black_bean.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "black_bean" ] }, @@ -19167,7 +19167,7 @@ { "name": "green_bean.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "green_bean" ] }, @@ -19188,7 +19188,7 @@ { "name": "soy.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "soybean" ] } @@ -19197,7 +19197,7 @@ { "name": "chickpea.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "chickpea" ] }, @@ -19216,7 +19216,7 @@ { "name": "pea.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pea" ] } @@ -19245,14 +19245,14 @@ { "name": "head_cabbage.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "head_cabbage" ] }, { "name": "kale.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "kale" ] } @@ -19265,28 +19265,28 @@ { "name": "broccoli.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "broccoli" ] }, { "name": "broccolini.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "broccolini" ] }, { "name": "brussels_sprouts.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "brussels_sprouts" ] }, { "name": "cauliflower.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cauliflower" ] }, @@ -19305,7 +19305,7 @@ { "name": "radish.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "radish" ] }, @@ -19316,14 +19316,14 @@ { "name": "rutabaga.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rutabaga" ] }, { "name": "white_turnip.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "white_turnip" ] } @@ -19334,7 +19334,7 @@ { "name": "celery.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "celery" ] }, @@ -19353,7 +19353,7 @@ { "name": "diced__green_onion.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "diced_green_onion" ] }, @@ -19364,7 +19364,7 @@ { "name": "green_onion.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "green_onion" ] }, @@ -19375,14 +19375,14 @@ { "name": "sliced__onion.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_onion" ] }, { "name": "vidalia_onion.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "vidalia_onion" ] } @@ -19411,7 +19411,7 @@ { "name": "zucchini.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "zucchini" ] } @@ -19422,7 +19422,7 @@ { "name": "cucumber.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "cucumber" ] }, @@ -19437,56 +19437,56 @@ { "name": "fennel.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "fennel" ] }, { "name": "gumbo.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "okra" ] }, { "name": "half__mushroom.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "half_mushroom" ] }, { "name": "leek.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "leek" ] }, { "name": "mushroom.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "mushroom" ] }, { "name": "pieplant.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "rhubarb" ] }, { "name": "pumpkin.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pumpkin" ] }, { "name": "sliced__cucumber.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_cucumber" ] } @@ -19509,7 +19509,7 @@ { "name": "bacon.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bacon" ] }, @@ -19528,14 +19528,14 @@ { "name": "prosciutto.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "prosciutto" ] }, { "name": "virginia_ham.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "virginia_ham" ] } @@ -19558,7 +19558,7 @@ { "name": "sliced__roast_beef.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sliced_roast_beef" ] } @@ -19567,7 +19567,7 @@ { "name": "brisket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "brisket" ] }, @@ -19592,7 +19592,7 @@ { "name": "loin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "loin" ] }, @@ -19603,7 +19603,7 @@ { "name": "porkchop.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pork_chop" ] } @@ -19612,7 +19612,7 @@ { "name": "rib.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "pork_rib", "rib" ] @@ -19624,7 +19624,7 @@ { "name": "steak.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "steak" ] }, @@ -19645,7 +19645,7 @@ { "name": "bratwurst.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bratwurst" ] }, @@ -19662,7 +19662,7 @@ { "name": "chorizo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chorizo" ] }, @@ -19673,7 +19673,7 @@ { "name": "frank.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "hotdog_frank" ] }, @@ -19698,7 +19698,7 @@ { "name": "chicken.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chicken" ] }, @@ -19717,14 +19717,14 @@ { "name": "duck.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "duck" ] }, { "name": "turkey.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "turkey" ] } @@ -19737,7 +19737,7 @@ { "name": "quail.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "quail_breast", "quail_breast_raw", "quail_leg" @@ -19776,7 +19776,7 @@ { "name": "pork.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "pork" ] }, @@ -19827,7 +19827,7 @@ { "name": "feta.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "feta" ] }, @@ -19866,7 +19866,7 @@ { "name": "swiss_cheese.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "swiss_cheese" ] } @@ -19875,7 +19875,7 @@ { "name": "butter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "butter" ] }, @@ -19906,14 +19906,14 @@ { "name": "chocolate_bar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chocolate_bar" ] }, { "name": "chocolate_kiss.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chocolate_chip" ] }, @@ -19934,7 +19934,7 @@ { "name": "white_chocolate.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "white_chocolate" ] } @@ -19955,35 +19955,35 @@ { "name": "crab.n.05", "hasModel": true, - "igibson_categories": [ + "categories": [ "crab" ] }, { "name": "crayfish.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "crawfish" ] }, { "name": "huitre.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "oyster" ] }, { "name": "lobster.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lobster" ] }, { "name": "mussel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "mussel" ] }, @@ -20022,7 +20022,7 @@ { "name": "tuna.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "tuna" ] } @@ -20031,21 +20031,21 @@ { "name": "octopus.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "octopus" ] }, { "name": "prawn.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shrimp" ] }, { "name": "squid.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "squid" ] } @@ -20062,7 +20062,7 @@ { "name": "conchiglie.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "conchiglie" ] }, @@ -20081,7 +20081,7 @@ { "name": "dumpling.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "dumpling" ] }, @@ -20092,7 +20092,7 @@ { "name": "noodle.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "noodle" ] }, @@ -20103,14 +20103,14 @@ { "name": "penne.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "penne" ] }, { "name": "ravioli.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ravioli" ] } @@ -20157,14 +20157,14 @@ { "name": "salmon.n.03", "hasModel": true, - "igibson_categories": [ + "categories": [ "salmon" ] }, { "name": "trout.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "trout" ] } @@ -20195,7 +20195,7 @@ { "name": "jade.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jade" ] } @@ -20224,7 +20224,7 @@ { "name": "ash.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ash" ] } @@ -20241,7 +20241,7 @@ { "name": "butane.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lighter_fluid" ] }, @@ -20318,7 +20318,7 @@ { "name": "agent.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "agent" ] }, @@ -20357,7 +20357,7 @@ { "name": "lip_balm.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lip_balm" ] } @@ -20382,7 +20382,7 @@ { "name": "pill.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pill" ] } @@ -20563,14 +20563,14 @@ { "name": "cigar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cigar" ] }, { "name": "cigarette.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cigarette" ] } @@ -20679,7 +20679,7 @@ { "name": "paraffin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paraffin_wax" ] }, @@ -20738,7 +20738,7 @@ { "name": "shortening.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shortening" ] } @@ -20795,7 +20795,7 @@ { "name": "antler.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "antlers" ] } @@ -20878,7 +20878,7 @@ { "name": "geode.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "geode" ] } @@ -21025,7 +21025,7 @@ { "name": "paraffin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paraffin_wax" ] }, @@ -21084,7 +21084,7 @@ { "name": "shortening.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shortening" ] } @@ -21129,7 +21129,7 @@ { "name": "butane.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lighter_fluid" ] } @@ -21190,7 +21190,7 @@ { "name": "bar_soap.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bar_soap" ] }, @@ -21211,7 +21211,7 @@ "hasModel": true } ], - "igibson_categories": [ + "categories": [ "soap" ] }, @@ -21226,7 +21226,7 @@ { "name": "shampoo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "shampoo" ] }, @@ -21387,7 +21387,7 @@ { "name": "gunpowder.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "gunpowder" ] }, @@ -21402,14 +21402,14 @@ { "name": "skyrocket.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "skyrocket" ] }, { "name": "sparkler.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "sparkler" ] } @@ -21458,7 +21458,7 @@ { "name": "fecal_matter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "poop" ] } @@ -21481,7 +21481,7 @@ { "name": "bamboo.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bamboo" ] }, @@ -21492,7 +21492,7 @@ { "name": "log.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "log" ] }, @@ -21507,7 +21507,7 @@ { "name": "wood_chip.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wood_chip" ] } @@ -21534,14 +21534,14 @@ { "name": "cigar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cigar" ] }, { "name": "cigarette.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cigarette" ] } @@ -21556,7 +21556,7 @@ { "name": "cotton.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cotton_ball" ] }, @@ -21587,7 +21587,7 @@ { "name": "feather.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "feather" ] }, @@ -21616,7 +21616,7 @@ { "name": "chalk.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chalk" ] } @@ -21631,7 +21631,7 @@ { "name": "quartz.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "quartz" ] } @@ -21652,7 +21652,7 @@ { "name": "card.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "cardstock" ] } @@ -21665,14 +21665,14 @@ { "name": "notepad.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "notepad" ] }, { "name": "sticky_note.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sticky_note" ] } @@ -21697,7 +21697,7 @@ { "name": "sheet.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "paper_sheet" ] }, @@ -21708,7 +21708,7 @@ { "name": "toilet_tissue.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "toilet_paper" ] } @@ -21717,7 +21717,7 @@ { "name": "wallpaper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wallpaper" ] }, @@ -21728,7 +21728,7 @@ { "name": "wrapping_paper.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "wrapping_paper" ] } @@ -21745,7 +21745,7 @@ { "name": "card.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "cardstock" ] } @@ -21768,7 +21768,7 @@ { "name": "cotton.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "cotton_ball" ] }, @@ -21787,7 +21787,7 @@ { "name": "loofa.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "loofah" ] } @@ -21848,7 +21848,7 @@ { "name": "steel_wool.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "steel_wool" ] } @@ -21991,7 +21991,7 @@ { "name": "sponge.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sponge" ] } @@ -22508,7 +22508,7 @@ { "name": "credit_card.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "credit_card" ] } @@ -22543,7 +22543,7 @@ { "name": "silver.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "silver_coins" ] } @@ -22580,7 +22580,7 @@ { "name": "stand.n.10", "hasModel": true, - "igibson_categories": [ + "categories": [ "stadium_stand" ] } @@ -22615,12 +22615,12 @@ { "name": "poster.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "poster" ] } ], - "igibson_categories": [ + "categories": [ "sign" ] }, @@ -22653,7 +22653,7 @@ { "name": "credit_card.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "credit_card" ] } @@ -22684,7 +22684,7 @@ { "name": "gummed_label.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "sticker" ] }, @@ -22695,7 +22695,7 @@ { "name": "name_tag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "name_tag" ] }, @@ -22708,7 +22708,7 @@ { "name": "tag.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "tag" ] } @@ -22723,7 +22723,7 @@ { "name": "postage.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "postage_stamp" ] } @@ -22736,7 +22736,7 @@ { "name": "trophy.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "trophy" ] } @@ -22755,7 +22755,7 @@ { "name": "pennant.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "pennant" ] } @@ -22792,7 +22792,7 @@ { "name": "information_bulletin.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "information_bulletin" ] } @@ -22817,7 +22817,7 @@ { "name": "menu.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "menu" ] } @@ -22836,7 +22836,7 @@ { "name": "receipt.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "receipt" ] } @@ -22859,7 +22859,7 @@ { "name": "legal_document.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "legal_document" ] }, @@ -22870,14 +22870,14 @@ { "name": "ticket.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "ticket" ] } ] } ], - "igibson_categories": [ + "categories": [ "document" ] }, @@ -22892,7 +22892,7 @@ { "name": "letter.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "letter" ] } @@ -22913,7 +22913,7 @@ { "name": "postcard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "postcard" ] } @@ -22946,7 +22946,7 @@ { "name": "postcard.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "postcard" ] } @@ -23005,14 +23005,14 @@ { "name": "bouquet.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bouquet" ] }, { "name": "wreath.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "valentine_wreath", "wreath" ] @@ -23030,7 +23030,7 @@ { "name": "periodic_table.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "periodic_table" ] } @@ -23051,7 +23051,7 @@ { "name": "chess_set.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chess_set" ] } @@ -23064,28 +23064,28 @@ { "name": "heap__of__granola.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "heap_of_granola" ] }, { "name": "heap__of__gravel.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "heap_of_gravel" ] }, { "name": "heap__of__oatmeal.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "heap_of_oatmeal" ] }, { "name": "heap__of__raisins.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "heap_of_raisins" ] } @@ -23094,7 +23094,7 @@ { "name": "mail.n.04", "hasModel": true, - "igibson_categories": [ + "categories": [ "mail" ] }, @@ -23105,7 +23105,7 @@ { "name": "scrub.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bush" ] } @@ -23152,7 +23152,7 @@ { "name": "bait.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bait" ] } @@ -23175,7 +23175,7 @@ { "name": "calendar.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "calendar" ] } @@ -23206,7 +23206,7 @@ { "name": "national_flag.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "national_flag" ] } @@ -23261,7 +23261,7 @@ { "name": "bench_press.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "bench_press_machine" ] } @@ -23288,7 +23288,7 @@ { "name": "board_game.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "board_game" ] } @@ -23307,7 +23307,7 @@ { "name": "computer_game.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "video_game" ] } @@ -23376,7 +23376,7 @@ { "name": "mothball.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "moth_ball" ] } @@ -23439,13 +23439,13 @@ { "name": "statue.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "garden_statue", "statue" ] } ], - "igibson_categories": [ + "categories": [ "sculpture" ] } @@ -23488,21 +23488,21 @@ { "name": "jade_roller.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "jade_roller" ] }, { "name": "lint_roller.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "lint_roller" ] }, { "name": "paint_roller.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "paint_roller" ] } @@ -23619,7 +23619,7 @@ { "name": "breadcrumb.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "breadcrumb" ] }, @@ -23644,14 +23644,14 @@ { "name": "chicken_breast.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "chicken_breast" ] }, { "name": "chicken_tender.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chicken_tender" ] }, @@ -23668,7 +23668,7 @@ { "name": "chicken_leg.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chicken_leg", "chicken_thigh" ] @@ -23686,7 +23686,7 @@ { "name": "chicken_wing.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "chicken_wing" ] } @@ -23699,7 +23699,7 @@ { "name": "fillet.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "fillet" ] } @@ -23740,7 +23740,7 @@ { "name": "money.n.01", "hasModel": true, - "igibson_categories": [ + "categories": [ "money" ] }, @@ -23759,21 +23759,21 @@ { "name": "nickel.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "nickel" ] }, { "name": "penny.n.02", "hasModel": true, - "igibson_categories": [ + "categories": [ "penny" ] }, { "name": "quarter.n.10", "hasModel": true, - "igibson_categories": [ + "categories": [ "quarter" ] } diff --git a/bddl/generated_data/output_hierarchy_properties.json b/bddl/generated_data/output_hierarchy_properties.json new file mode 100644 index 00000000..41f0123d --- /dev/null +++ b/bddl/generated_data/output_hierarchy_properties.json @@ -0,0 +1,88654 @@ +{ + "name": "entity.n.01", + "children": [ + { + "name": "physical_entity.n.01", + "hasModel": true, + "children": [ + { + "name": "object.n.01", + "hasModel": true, + "children": [ + { + "name": "whole.n.02", + "hasModel": true, + "children": [ + { + "name": "artifact.n.01", + "hasModel": true, + "children": [ + { + "name": "instrumentality.n.03", + "hasModel": true, + "children": [ + { + "name": "container.n.01", + "hasModel": true, + "children": [ + { + "name": "vessel.n.03", + "hasModel": true, + "children": [ + { + "name": "acetone__bottle.n.01", + "hasModel": true, + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "ammonia_water__bottle.n.01", + "hasModel": true, + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "apple_juice__bottle.n.01", + "hasModel": true, + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "baking_powder__jar.n.01", + "hasModel": true, + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "balsamic_vinegar__bottle.n.01", + "hasModel": true, + "categories": [ + "balsamic_vinegar_bottle" + ], + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "barbecue_sauce__bottle.n.01", + "hasModel": true, + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "basil__jar.n.01", + "hasModel": true, + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "bathtub.n.01", + "hasModel": true, + "categories": [ + "bathtub" + ], + "abilities": { + "disinfectable": {}, + "dustyable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "particleSource": {}, + "rigidBody": {}, + "rustable": {}, + "sceneObject": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "barrel.n.02", + "hasModel": true, + "children": [ + { + "name": "beer_barrel.n.01", + "hasModel": true, + "categories": [ + "beer_keg" + ], + "abilities": { + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "flammable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "keg.n.02", + "hasModel": true, + "abilities": { + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + } + ], + "abilities": { + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "bottle.n.01", + "hasModel": true, + "children": [ + { + "name": "beer_bottle.n.01", + "hasModel": true, + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "flask.n.01", + "hasModel": true, + "children": [ + { + "name": "canteen.n.01", + "hasModel": true, + "categories": [ + "canteen" + ], + "abilities": { + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": {}, + "heatable": {}, + "mixable": {}, + "moldyable": {}, + "nonSubstance": {}, + "openable": {}, + "rigidBody": {}, + "rustable": {}, + "scratchable": {}, + "stainable": {}, + "stickyable": {}, + "tarnishable": {}, + "wetable": {}, + "wrinkleable": {} + } + }, + { + "name": "erlenmeyer_flask.n.01", + "hasModel": true, + "categories": [ + "erlenmeyer_flask" + ], + "abilities": { + "breakable": {}, + "disinfectable": {}, + "dustyable": {}, + "fillable": {}, + "freezable": {}, + "grassyable": 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"heatable": {} + } + } + ], + "hasModel": false, + "abilities": { + "freezable": {}, + "heatable": {} + } +} \ No newline at end of file diff --git a/bddl/object_taxonomy.py b/bddl/object_taxonomy.py index 67e0fbfc..cb5a5edb 100644 --- a/bddl/object_taxonomy.py +++ b/bddl/object_taxonomy.py @@ -7,7 +7,7 @@ import bddl DEFAULT_HIERARCHY_FILE = pkgutil.get_data( - bddl.__package__, "generated_data/output_hierarchy.json") + bddl.__package__, "generated_data/output_hierarchy_properties.json") class ObjectTaxonomy(object): @@ -21,7 +21,7 @@ def _parse_taxonomy(json_str): Parse taxonomy from hierarchy JSON file. :param json_str: str containing JSON-encoded hierarchy. - :return: networkx.DiGraph corresponding to object hierarchy tree with classes as nodes and parent-child + :return: networkx.DiGraph corresponding to object hierarchy tree with synsets as nodes and parent-child relationships as directed edges from parent to child. """ json_obj = json.loads(json_str) @@ -37,183 +37,183 @@ def _parse_taxonomy(json_str): next_nodes.append((child, node)) children_names.add(child['name']) taxonomy.add_node(node['name'], - igibson_categories=node['igibson_categories'], + categories=node.get('categories', []), abilities=node['abilities']) for child_name in children_names: taxonomy.add_edge(node['name'], child_name) nodes = next_nodes return taxonomy - def _get_class_by_filter(self, filter_fn): + def _get_synset_by_filter(self, filter_fn): """ - Gets a single class matching the given filter function. + Gets a single synset matching the given filter function. - :param filter_fn: Filter function that takes a single class name as input and returns a boolean (True to keep). - :return: str corresponding to the matching class name, None if no match found. - :raises: ValueError if more than one matching class is found. + :param filter_fn: Filter function that takes a single synset as input and returns a boolean (True to keep). + :return: str corresponding to the matching synset, None if no match found. + :raises: ValueError if more than one matching synset is found. """ matched = [ - class_name for class_name in self.taxonomy.nodes if filter_fn(class_name)] + synset for synset in self.taxonomy.nodes if filter_fn(synset)] if not matched: return None elif len(matched) > 1: - raise ValueError("Multiple classes matched: %s" % + raise ValueError("Multiple synsets matched: %s" % ", ".join(matched)) return matched[0] - def get_class_name_from_igibson_category(self, igibson_category): + def get_synset_from_category(self, category): """ - Get class name corresponding to iGibson object category. + Get synset name corresponding to object category. - :param igibson_category: iGibson object category to search for. - :return: str containing matching class name. - :raises ValueError if multiple matching classes are found. + :param category: object category to search for. + :return: str containing matching synset. + :raises ValueError if multiple matching synsets are found. """ - return self._get_class_by_filter(lambda class_name: igibson_category in self.get_igibson_categories(class_name)) + return self._get_synset_by_filter(lambda synset: category in self.get_categories(synset)) - def get_subtree_igibson_categories(self, class_name): + def get_subtree_categories(self, synset): """ - Get the iGibson object categories matching the subtree of a given class (by aggregating categories across all the leaf-level descendants). + Get the object categories matching the subtree of a given synset (by aggregating categories across all the leaf-level descendants). - :param class name: Class name to search - :return: list of str corresponding to iGibson object categories + :param synset: synset to search + :return: list of str corresponding to object categories """ - if self.is_leaf(class_name): - class_names = [class_name] + if self.is_leaf(synset): + synsets = [synset] else: - class_names = self.get_leaf_descendants(class_name) - all_igibson_categories = [] - for class_name in class_names: - all_igibson_categories += self.get_igibson_categories(class_name) - return all_igibson_categories + synsets = self.get_leaf_descendants(synset) + all_categories = [] + for synset in synsets: + all_categories += self.get_categories(synset) + return all_categories - def is_valid_class(self, class_name): + def is_valid_synset(self, synset): """ - Check whether a given class exists within the object taxonomy. + Check whether a given synset exists within the object taxonomy. - :param class_name: Class name to search. - :return: bool indicating if the class exists in the taxonomy. + :param synset: synset to search. + :return: bool indicating if the synset exists in the taxonomy. """ - return self.taxonomy.has_node(class_name) + return self.taxonomy.has_node(synset) - def get_descendants(self, class_name): + def get_descendants(self, synset): """ - Get the descendant classes of a class. + Get the descendant synsets of a synset. - :param class_name: Class name to search. - :return: list of str corresponding to descendant class names. + :param synset: synset to search. + :return: list of str corresponding to descendant synsets. """ - assert self.is_valid_class(class_name) - return list(nx.algorithms.dag.descendants(self.taxonomy, class_name)) + assert self.is_valid_synset(synset) + return list(nx.algorithms.dag.descendants(self.taxonomy, synset)) - def get_leaf_descendants(self, class_name): + def get_leaf_descendants(self, synset): """ - Get the leaf descendant classes of a class, e.g. descendant classes who are also leaf nodes. + Get the leaf descendant synsets of a synset, e.g. descendant synsets who are also leaf nodes. - :param class_name: Class name to search. - :return: list of str corresponding to leaf descendant class names. + :param synset: synset to search. + :return: list of str corresponding to leaf descendant synsets. """ - return [node for node in self.get_descendants(class_name) if self.taxonomy.out_degree(node) == 0] + return [node for node in self.get_descendants(synset) if self.taxonomy.out_degree(node) == 0] - def get_ancestors(self, class_name): + def get_ancestors(self, synset): """ - Get the ancestor classes of a class. + Get the ancestor synsets of a synset. - :param class_name: Class name to search. - :return: list of str corresponding to ancestor class names. + :param synset: synset to search. + :return: list of str corresponding to ancestor synsets. """ - assert self.is_valid_class(class_name) - return list(nx.algorithms.dag.ancestors(self.taxonomy, class_name)) + assert self.is_valid_synset(synset) + return list(nx.algorithms.dag.ancestors(self.taxonomy, synset)) - def is_descendant(self, class_name, potential_ancestor_class_name): + def is_descendant(self, synset, potential_ancestor_synset): """ - Check whether a given class is a descendant of another class. + Check whether a given synset is a descendant of another synset. - :param class_name: The class name being searched for as a descendant. - :param potential_ancestor_class_name: The class name being searched for as a parent. - :return: bool indicating whether class_name is a descendant of potential_ancestor_class_name. + :param synset: The synset being searched for as a descendant. + :param potential_ancestor_synset: The synset being searched for as a parent. + :return: bool indicating whether synset is a descendant of potential_ancestor_synset. """ - assert self.is_valid_class(class_name) - assert self.is_valid_class(potential_ancestor_class_name) - return class_name in self.get_descendants(potential_ancestor_class_name) + assert self.is_valid_synset(synset) + assert self.is_valid_synset(potential_ancestor_synset) + return synset in self.get_descendants(potential_ancestor_synset) - def is_ancestor(self, class_name, potential_descendant_class_name): + def is_ancestor(self, synset, potential_descendant_synset): """ - Check whether a given class is an ancestor of another class. + Check whether a given synset is an ancestor of another synset. - :param class_name: The class name being searched for as an ancestor. - :param potential_descendant_class_name: The class name being searched for as a descendant. - :return: bool indicating whether class_name is an ancestor of potential_descendant_class_name. + :param synset: The synset being searched for as an ancestor. + :param potential_descendant_synset: The synset being searched for as a descendant. + :return: bool indicating whether synset is an ancestor of potential_descendant_synset. """ - assert self.is_valid_class(class_name) - assert self.is_valid_class(potential_descendant_class_name) - return class_name in self.get_ancestors(potential_descendant_class_name) + assert self.is_valid_synset(synset) + assert self.is_valid_synset(potential_descendant_synset) + return synset in self.get_ancestors(potential_descendant_synset) - def get_abilities(self, class_name): + def get_abilities(self, synset): """ - Get the abilities of a given class. + Get the abilities of a given synset. - :param class_name: Class name to search. + :param synset: synset to search. :return: dict in the form of {ability: {param: value}} containing abilities and ability parameters. """ - assert self.is_valid_class(class_name), f"Invalid class name: {class_name}" - return copy.deepcopy(self.taxonomy.nodes[class_name]['abilities']) + assert self.is_valid_synset(synset), f"Invalid synset: {synset}" + return copy.deepcopy(self.taxonomy.nodes[synset]['abilities']) - def get_igibson_categories(self, class_name): + def get_categories(self, synset): """ - Get the iGibson object categories matching a given class. + Get the object categories matching a given synset. - :param class_name: Class name to search. - :return: list of str corresponding to iGibson object categories matching the class. + :param synset: synset to search. + :return: list of str corresponding to object categories matching the synset. """ - assert self.is_valid_class(class_name) - return list(self.taxonomy.nodes[class_name]['igibson_categories']) + assert self.is_valid_synset(synset) + return list(self.taxonomy.nodes[synset]['categories']) - def get_children(self, class_name): + def get_children(self, synset): """ - Get the immediate child classes of a class. + Get the immediate child synsets of a synset. - :param class_name: Class name to search. - :return: list of str corresponding to child class names. + :param synset: synset to search. + :return: list of str corresponding to child synsets. """ - assert self.is_valid_class(class_name) - return list(self.taxonomy.successors(class_name)) + assert self.is_valid_synset(synset) + return list(self.taxonomy.successors(synset)) - def get_parent(self, class_name): + def get_parent(self, synset): """ - Get the immediate parent class of a class. + Get the immediate parent synset of a synset. - :param class_name: Class name to search. - :return: str corresponding to parent class name, None if no parent exists. + :param synset: synset to search. + :return: str corresponding to parent synset, None if no parent exists. """ - assert self.is_valid_class(class_name) + assert self.is_valid_synset(synset) - in_degree = self.taxonomy.in_degree(class_name) + in_degree = self.taxonomy.in_degree(synset) assert in_degree <= 1 - return next(self.taxonomy.predecessors(class_name)) if in_degree else None + return next(self.taxonomy.predecessors(synset)) if in_degree else None - def is_leaf(self, class_name): + def is_leaf(self, synset): """ - Check whether a given class is a leaf class e.g. it has no descendants. + Check whether a given synset is a leaf synset e.g. it has no descendants. - :param class_name: Class name to search. - :return: bool indicating if the class is a leaf class. + :param synset: synset to search. + :return: bool indicating if the synset is a leaf synset. """ - assert self.is_valid_class(class_name), "{} is not a valid class name".format(class_name) - return self.taxonomy.out_degree(class_name) == 0 + assert self.is_valid_synset(synset), "{} is not a valid synset".format(synset) + return self.taxonomy.out_degree(synset) == 0 - def has_ability(self, class_name, ability): + def has_ability(self, synset, ability): """ - Check whether the given class has the given ability. + Check whether the given synset has the given ability. - :param class_name: Class name to check. + :param synset: synset to check. :param ability: Ability name to check. - :return: bool indicating if the class has the ability. + :return: bool indicating if the synset has the ability. """ - return ability in self.get_abilities(class_name) + return ability in self.get_abilities(synset) if __name__ == "__main__":