diff --git a/.gitattributes b/.gitattributes index 273e403b267c4dcd212865763358c0be21f944bf..eb872b311678291e4f3320f2a2d1df7dd3db6ff5 100644 --- a/.gitattributes +++ b/.gitattributes @@ -32720,3 +32720,264 @@ train/train1496/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text train/train1496/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text train/train1496/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text train/train505/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train505/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train505/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train505/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train505/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train505/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train505/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train505/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train505/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train505/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train505/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train505/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train505/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train505/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train505/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train505/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train505/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train221/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train221/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train221/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train221/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train221/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train221/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train221/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train221/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train221/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train221/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train221/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train221/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train221/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1458/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1458/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/4/rgb_1_mask_DiningTable|6|3|0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/0/rgb_1_mask_HousePlant|6|4|0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/0/rgb_1_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train1458/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1458/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/0/rgb_1_mask_GarbageBag|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1458/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1458/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/1/rgb_1_mask_GarbageBag|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1458/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/2/rgb_1_mask_HousePlant|6|4|0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/2/rgb_1_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train1458/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1458/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/2/rgb_0_mask_Painting|6|7.png filter=lfs diff=lfs merge=lfs -text +train/train1458/2/rgb_1_mask_Painting|6|7.png filter=lfs diff=lfs merge=lfs -text +train/train1458/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/2/rgb_0_mask_HousePlant|6|4|0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1458/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1458/2/rgb_0_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train963/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train963/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train963/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train963/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train963/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train963/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train963/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train963/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train963/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train963/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train963/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train963/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train963/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train963/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train963/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train963/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train963/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train377/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train377/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train377/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train377/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train377/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train377/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train377/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train377/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train377/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train377/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train377/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train377/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train377/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train105/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train105/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train105/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train105/3/rgb_1_mask_Toilet|7|0.png filter=lfs diff=lfs merge=lfs -text +train/train105/3/rgb_0_mask_GarbageCan|7|3.png filter=lfs diff=lfs merge=lfs -text +train/train105/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train105/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train105/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train105/3/rgb_1_mask_GarbageCan|7|3.png filter=lfs diff=lfs merge=lfs -text +train/train105/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train105/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train105/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train105/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train105/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train105/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/35/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/35/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/35/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/35/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/35/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/35/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/35/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/35/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/rgb_1_mask_Toilet|-00.52|00.00|+03.22.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/rgb_0_mask_Toilet|-00.52|00.00|+03.22.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/13/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/rgb_1_mask_HandTowel|-00.11|+01.47|+04.81.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/9/rgb_0_mask_HandTowel|-00.11|+01.47|+04.81.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_1_mask_Mirror|-00.98|+01.58|+05.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_1_mask_Sink|-01.53|+00.93|+04.87.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_0_mask_SoapBottle|-01.06|+00.95|+05.03.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_0_mask_Faucet|-00.58|+01.05|+05.10.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/16/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_0_mask_Sink|-00.58|+00.93|+04.87.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.96|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/rgb_1_mask_ShowerDoor|-00.28|+01.23|+01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/rgb_0_mask_ShowerDoor|-00.28|+01.23|+01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/32/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/26/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/26/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/26/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/26/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/26/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/26/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/26/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/26/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/23/rgb_1_mask_HandTowelHolder|-02.09|+01.54|+05.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/23/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/23/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/23/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/23/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan402/23/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text diff --git a/train/FloorPlan402/13/0.json b/train/FloorPlan402/13/0.json new file mode 100644 index 0000000000000000000000000000000000000000..5bac4fa7bebce56d77acdbef5e1e4ed81b2e62dc --- /dev/null +++ b/train/FloorPlan402/13/0.json @@ -0,0 +1,3157 @@ +{ + "object": [ + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "object_info": { + "name": "Cabinet_bd9c7c59", + "position": { + "x": -1.0596699714660645, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.3931381702423096, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0596699714660645, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -1.2823636531829834, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.4453873634338379, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "object_info": { + "name": "ToiletPaperHanger_f7f4dd68", + "position": { + "x": -0.07400000095367432, + "y": 1.1260000467300415, + "z": 3.686000108718872 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2730696201324463, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "assetId": "Toilet_Paper_Hanger_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399998605251312, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.641615152359009 + ] + ], + "center": { + "x": -0.11924838274717331, + "y": 1.1260000467300415, + "z": 3.748469114303589 + }, + "size": { + "x": 0.09049679338932037, + "y": 0.05908823013305664, + "z": 0.21370792388916016 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "object_info": { + "name": "GarbageCan_4bfb5574", + "position": { + "x": -2.346003770828247, + "y": 0.0030006468296051025, + "z": 4.878763675689697 + }, + "rotation": { + "x": 0.9101229310035706, + "y": 180.002685546875, + "z": -6.295583261817228e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 2.5659396648406982, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.001185894012451, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.001185894012451, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 4.626857757568359 + ], + [ + -2.679744243621826, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.679744243621826, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 4.626857757568359 + ] + ], + "center": { + "x": -2.3404650688171387, + "y": 0.2547769844532013, + "z": 4.862797737121582 + }, + "size": { + "x": 0.678558349609375, + "y": 0.5102071762084961, + "z": 0.4718799591064453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.679751396179199, + -0.0060831159353256226, + 4.63466739654541 + ], + [ + -2.001188278198242, + -0.006083060055971146, + 4.6346354484558105 + ], + [ + -2.0011661052703857, + 0.0014130910858511925, + 5.106532573699951 + ], + [ + -2.6797292232513428, + 0.0014130352064967155, + 5.106564521789551 + ], + [ + -2.6797518730163574, + 0.5030497312545776, + 4.626579761505127 + ], + [ + -2.0011887550354004, + 0.5030497312545776, + 4.626547813415527 + ], + [ + -2.001166582107544, + 0.5105459094047546, + 5.098444938659668 + ], + [ + -2.679729700088501, + 0.5105459094047546, + 5.098476886749268 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.52|+01.05|+05.10", + "object_info": { + "name": "Faucet_b2d11a28", + "position": { + "x": -1.524957299232483, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6435985565185547, + "objectType": "Faucet", + "objectId": "Faucet|-01.52|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2335190773010254, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -1.5258479118347168, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846576690673828, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "object_info": { + "name": "ScrubBrush_2f874c37", + "position": { + "x": -0.23153172433376312, + "y": -0.0003285333514213562, + "z": 3.8574726581573486 + }, + "rotation": { + "x": 8.19530469016172e-05, + "y": 0.0002286293456563726, + "z": 0.00018199534679297358 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1899999976158142, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.404581069946289, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.16538116335868835, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.790544033050537 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.790544033050537 + ] + ], + "center": { + "x": -0.23153193295001984, + "y": 0.23786580562591553, + "z": 3.8574726581573486 + }, + "size": { + "x": 0.13230153918266296, + "y": 0.4763892889022827, + "z": 0.13385725021362305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + -0.00032841425854712725, + 3.924400568008423 + ], + [ + -0.2976817488670349, + -0.0003288348962087184, + 3.924401044845581 + ], + [ + -0.2976822853088379, + -0.0003286375431343913, + 3.7905447483062744 + ], + [ + -0.16538169980049133, + -0.00032821690547280014, + 3.790544271469116 + ], + [ + -0.16538268327713013, + 0.47606056928634644, + 3.92440128326416 + ], + [ + -0.2976832687854767, + 0.476060152053833, + 3.9244017601013184 + ], + [ + -0.29768380522727966, + 0.47606033086776733, + 3.7905454635620117 + ], + [ + -0.1653832197189331, + 0.47606074810028076, + 3.7905449867248535 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "object_info": { + "name": "Cabinet_6809ef74", + "position": { + "x": -1.96287202835083, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-01.74|+00.03|+04.87" + ], + "distance": 2.2009689807891846, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.515770435333252, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -1.7397873401641846, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.44803380966186523, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "object_info": { + "name": "Cabinet_e90dc44e", + "position": { + "x": -1.0278019905090332, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|-00.80|+00.03|+04.93" + ], + "distance": 2.4058377742767334, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.5807002782821655, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -0.8047172427177429, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.4480339288711548, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.21|00.00|+03.54", + "object_info": { + "name": "Plunger_ed710244", + "position": { + "x": -0.2129979431629181, + "y": -0.0007912442088127136, + "z": 3.5369977951049805 + }, + "rotation": { + "x": -0.001175427925772965, + "y": 0.0010995414340868592, + "z": 0.0007850115653127432 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.25419020652771, + "objectType": "Plunger", + "objectId": "Plunger|-00.21|00.00|+03.54", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13884791731834412, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.462920665740967 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.462920665740967 + ] + ], + "center": { + "x": -0.21299861371517181, + "y": 0.26934096217155457, + "z": 3.536926507949829 + }, + "size": { + "x": 0.1483013927936554, + "y": 0.5393415689468384, + "z": 0.1480116844177246 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1388479471206665, + -0.0003248240100219846, + 3.610929489135742 + ], + [ + -0.2871449589729309, + -0.0003268355503678322, + 3.6109323501586914 + ], + [ + -0.2871478796005249, + -0.0003298464580439031, + 3.462925910949707 + ], + [ + -0.1388508528470993, + -0.0003278349176980555, + 3.462923049926758 + ], + [ + -0.13885526359081268, + 0.5390133857727051, + 3.6109185218811035 + ], + [ + -0.2871522903442383, + 0.5390113592147827, + 3.6109213829040527 + ], + [ + -0.2871551811695099, + 0.539008378982544, + 3.4629149436950684 + ], + [ + -0.13885816931724548, + 0.5390104055404663, + 3.462912082672119 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_0b2fc3ae", + "position": { + "x": -0.5691999793052673, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7834455966949463, + "objectType": "SinkBasin", + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3147736191749573, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -0.5792245864868164, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289019346237183, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_28b928cc", + "position": { + "x": -1.5148999691009521, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4363298416137695, + "objectType": "SinkBasin", + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2604734897613525, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -1.5249245166778564, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289020538330078, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "object_info": { + "name": "HandTowelHolder_691a856c", + "position": { + "x": -2.0940001010894775, + "y": 1.5440000295639038, + "z": 5.145999908447266 + }, + "rotation": { + "x": -0.0, + "y": 179.99984741210938, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7247064113616943, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0104947090148926, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.097372531890869 + ] + ], + "center": { + "x": -2.095900058746338, + "y": 1.4834413528442383, + "z": 5.1216864585876465 + }, + "size": { + "x": 0.17081069946289062, + "y": 0.21029233932495117, + "z": 0.04862785339355469 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.700000047683716, + "y": 0.9006701707839966, + "z": 3.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 66.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.700000047683716, + "y": 1.5756702423095703, + "z": 3.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.18|+01.42|+02.43", + "Toilet|-00.52|00.00|+03.22", + "TowelHolder|-00.07|+01.41|+02.43" + ], + "different_object": [ + "CounterTop|-01.02|+00.95|+04.88", + "Sink|-01.53|+00.93|+04.87|SinkBasin", + "ToiletPaper|-00.20|+01.03|+03.18", + "Faucet|-01.52|+01.05|+05.10", + "Sink|-01.53|+00.93|+04.87", + "SoapBottle|-01.06|+00.95|+05.03", + "Plunger|-00.21|00.00|+03.54", + "ToiletPaperHanger|-00.07|+01.13|+03.69", + "Mirror|-00.98|+01.58|+05.15", + "Cabinet|-01.96|+00.36|+04.63", + "Cabinet|-01.03|+00.36|+04.63", + "Sink|-00.58|+00.93|+04.87|SinkBasin", + "Faucet|-00.58|+01.05|+05.10", + "ToiletPaper|-00.19|+01.03|+03.37", + "HandTowel|-00.11|+01.47|+04.81", + "HandTowelHolder|-00.07|+01.57|+04.81", + "ScrubBrush|-00.23|00.00|+03.86", + "Cabinet|-00.12|+00.36|+04.63", + "HandTowelHolder|-02.09|+01.54|+05.15", + "Sink|-00.58|+00.93|+04.87", + "GarbageCan|-02.35|+00.00|+04.88", + "Cabinet|-01.06|+00.36|+04.63" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/13/0_depth_npy.npy b/train/FloorPlan402/13/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c18168cb01faadf1ce847c19382d72730f211d5f --- /dev/null +++ b/train/FloorPlan402/13/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa735cc38b69f43449c00234c77206953d9aed2e0cd77a83241fd837d4f5c981 +size 3145856 diff --git a/train/FloorPlan402/13/0_semantic_sensor_npy.npy b/train/FloorPlan402/13/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f7bb239f0c867b7a1af309ae1177ebe28a6e1e8e --- /dev/null +++ b/train/FloorPlan402/13/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b90b9e887c4a7900b2f8074a2d18dc353679b56957c6412c12d80bcb3036d84 +size 2359424 diff --git a/train/FloorPlan402/13/1.json b/train/FloorPlan402/13/1.json new file mode 100644 index 0000000000000000000000000000000000000000..18e46868477f38526c5a2561d41962a969cfff33 --- /dev/null +++ b/train/FloorPlan402/13/1.json @@ -0,0 +1,963 @@ +{ + "object": [ + { + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "object_info": { + "name": "ShowerDoor_4666f48d", + "position": { + "x": -0.28208041191101074, + "y": 1.2287894487380981, + "z": 1.73020601272583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9108879566192627, + "objectType": "ShowerDoor", + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7050056457519531 + ] + ], + "center": { + "x": -0.7874165773391724, + "y": 1.162919282913208, + "z": 1.7307407855987549 + }, + "size": { + "x": 0.9921667575836182, + "y": 2.014890193939209, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "object_info": { + "name": "TowelHolder_82b9bdf0", + "position": { + "x": -1.7200000286102295, + "y": 1.2139999866485596, + "z": 1.7400000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.00016904715448617935, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 0.8684328198432922, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3909187316894531, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.740128993988037 + ] + ], + "center": { + "x": -1.7201937437057495, + "y": 1.214041829109192, + "z": 1.79618501663208 + }, + "size": { + "x": 0.6585500240325928, + "y": 0.04162406921386719, + "z": 0.11211204528808594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "object_info": { + "name": "ShowerGlass_73a7c1c8", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.3258392810821533, + "objectType": "ShowerGlass", + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2808876037597656, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.7047996520996094 + ] + ], + "center": { + "x": -2.5499496459960938, + "y": 1.1622567176818848, + "z": 1.7305347919464111 + }, + "size": { + "x": 2.5381240844726562, + "y": 2.0134267807006836, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "object_info": { + "name": "ShowerHead_2c6df809", + "position": { + "x": -0.09399999678134918, + "y": 1.0169999599456787, + "z": 0.8899999856948853 + }, + "rotation": { + "x": -0.0, + "y": 269.9997863769531, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.497692584991455, + "objectType": "ShowerHead", + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "assetId": "Shower_Head_1", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.08045965433120728, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 0.7655603885650635 + ] + ], + "center": { + "x": -0.20324942469596863, + "y": 1.6674669981002808, + "z": 0.9319844245910645 + }, + "size": { + "x": 0.2455795407295227, + "y": 1.810887098312378, + "z": 0.33284807205200195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|-02.90|+00.67|+02.86", + "object_info": { + "name": "Bathtub_b837a28d", + "position": { + "x": -2.8964381217956543, + "y": 0.6673177480697632, + "z": 2.8605003356933594 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-03.13|+00.68|+03.92", + "Faucet|-03.48|+00.71|+03.92" + ], + "distance": 0.9939895272254944, + "objectType": "Bathtub", + "objectId": "Bathtub|-02.90|+00.67|+02.86", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5470943450927734, + 0.679813027381897, + 4.03078556060791 + ], + [ + -2.5470943450927734, + 0.679813027381897, + 1.6920289993286133 + ], + [ + -2.5470943450927734, + 0.008055448532104492, + 4.03078556060791 + ], + [ + -2.5470943450927734, + 0.008055448532104492, + 1.6920289993286133 + ], + [ + -4.197375297546387, + 0.679813027381897, + 4.03078556060791 + ], + [ + -4.197375297546387, + 0.679813027381897, + 1.6920289993286133 + ], + [ + -4.197375297546387, + 0.008055448532104492, + 4.03078556060791 + ], + [ + -4.197375297546387, + 0.008055448532104492, + 1.6920289993286133 + ] + ], + "center": { + "x": -3.37223482131958, + "y": 0.34393423795700073, + "z": 2.8614072799682617 + }, + "size": { + "x": 1.6502809524536133, + "y": 0.6717575788497925, + "z": 2.338756561279297 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.600000023841858, + "y": 0.9006701707839966, + "z": 3.5999999046325684 + }, + "agent_rotation": { + "x": -0.0, + "y": 167.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.600000023841858, + "y": 1.5756702423095703, + "z": 3.5999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.18|+01.42|+02.43", + "Toilet|-00.52|00.00|+03.22", + "TowelHolder|-00.07|+01.41|+02.43" + ], + "different_object": [ + "TowelHolder|-01.72|+01.21|+01.74", + "Bathtub|-02.90|+00.67|+02.86", + "ShowerGlass|+00.00|+00.00|+00.00", + "ShowerHead|-00.09|+01.02|+00.89", + "ShowerDoor|-00.28|+01.23|+01.73" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/13/1_depth_npy.npy b/train/FloorPlan402/13/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3c84a7180baff1795cbcfa7da068aeb5a620b818 --- /dev/null +++ b/train/FloorPlan402/13/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb370307662a0d99d1f5d093f855fa5949479d229a85a12a13741ba02aa092fc +size 3145856 diff --git a/train/FloorPlan402/13/1_semantic_sensor_npy.npy b/train/FloorPlan402/13/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f367cb6aa5fbd8bba032e51537524636461b540e --- /dev/null +++ b/train/FloorPlan402/13/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39e40ad8f4b1d56d3b5fae3d947267c79866067a0ff9578ac5d937cd9d81f26a +size 2359424 diff --git a/train/FloorPlan402/13/depth_0.png b/train/FloorPlan402/13/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dcc4717f158837e592d10453317745546d15cdcf Binary files /dev/null and b/train/FloorPlan402/13/depth_0.png differ diff --git a/train/FloorPlan402/13/depth_1.png b/train/FloorPlan402/13/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8069328db0a64e47dc8493554bff1a3a82453da3 Binary files /dev/null and b/train/FloorPlan402/13/depth_1.png differ diff --git a/train/FloorPlan402/13/mask_questions.jsonl b/train/FloorPlan402/13/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e2812f8f5d74c13685909b3b6a9721b52b7d81e --- /dev/null +++ b/train/FloorPlan402/13/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 15053, "folder_dir": "FloorPlan402/13", "pair_name": "0-1:Towel|-00.18|+01.42|+02.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ScrubBrush\nB. Towel\nC. HandTowelHolder\nD. Toilet", "answer": "B", "object_name": "Towel", "image_1": "FloorPlan402/13/rgb_0.png", "image_2": "FloorPlan402/13/rgb_1.png", "mask_image": "FloorPlan402/13/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png", "options": ["ScrubBrush", "Towel", "HandTowelHolder", "Toilet"]} +{"id": 15054, "folder_dir": "FloorPlan402/13", "pair_name": "0-1:Toilet|-00.52|00.00|+03.22", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Towel\nB. Faucet\nC. Toilet\nD. SinkBasin", "answer": "C", "object_name": "Toilet", "image_1": "FloorPlan402/13/rgb_0.png", "image_2": "FloorPlan402/13/rgb_1.png", "mask_image": "FloorPlan402/13/rgb_1_mask_Toilet|-00.52|00.00|+03.22.png", "options": ["Towel", "Faucet", "Toilet", "SinkBasin"]} +{"id": 15055, "folder_dir": "FloorPlan402/13", "pair_name": "1-0:Towel|-00.18|+01.42|+02.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ShowerDoor\nB. Bathtub\nC. Towel\nD. Toilet", "answer": "C", "object_name": "Towel", "image_1": "FloorPlan402/13/rgb_1.png", "image_2": "FloorPlan402/13/rgb_0.png", "mask_image": "FloorPlan402/13/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png", "options": ["ShowerDoor", "Bathtub", "Towel", "Toilet"]} +{"id": 15056, "folder_dir": "FloorPlan402/13", "pair_name": "1-0:Toilet|-00.52|00.00|+03.22", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Towel\nB. ShowerHead\nC. Toilet\nD. Bathtub", "answer": "C", "object_name": "Toilet", "image_1": "FloorPlan402/13/rgb_1.png", "image_2": "FloorPlan402/13/rgb_0.png", "mask_image": "FloorPlan402/13/rgb_0_mask_Toilet|-00.52|00.00|+03.22.png", "options": ["Towel", "ShowerHead", "Toilet", "Bathtub"]} diff --git a/train/FloorPlan402/13/questions_distance.jsonl b/train/FloorPlan402/13/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9dace32eb85cf480df69dfa62d412e83bae1435d --- /dev/null +++ b/train/FloorPlan402/13/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4471, "folder_dir": "FloorPlan402/13", "query": "Which of the following objects is closest to Towel in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaperHanger\nB. ShowerDoor\nC. Toilet\nD. Other\n", "answer": "B", "src_object": "Towel", "target_object": "ShowerDoor", "question": "Which of the following objects is closest to Towel in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-00.07|+01.13|+03.69", "distance": 1.341575954162997, "com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}}, {"text": "ShowerDoor", "semantic_id": "ShowerDoor|-00.28|+01.23|+01.73", "distance": 0.9078983225907007, "com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}}, {"text": "Toilet", "semantic_id": "Toilet|-00.52|00.00|+03.22", "distance": 1.0780960446928103, "com": {"x": -0.5309745669364929, "y": 0.5168592929840088, "z": 3.2201571464538574}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/13/rgb_0.png", "image_2": "FloorPlan402/13/rgb_1.png"} diff --git a/train/FloorPlan402/13/rgb_0.png b/train/FloorPlan402/13/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9a9dd55b17c088021eba64813bf19651e5b828ed --- /dev/null +++ b/train/FloorPlan402/13/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fdf3759af1b1e597a5c819cd367c1ef9b7396ed2db109b0779f1e194f826d8e +size 871557 diff --git a/train/FloorPlan402/13/rgb_0_mask_Toilet|-00.52|00.00|+03.22.png b/train/FloorPlan402/13/rgb_0_mask_Toilet|-00.52|00.00|+03.22.png new file mode 100644 index 0000000000000000000000000000000000000000..60dc0ff036a2daa544b2493c1c03dd48e6c91d54 --- /dev/null +++ b/train/FloorPlan402/13/rgb_0_mask_Toilet|-00.52|00.00|+03.22.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63370bac9d126024b709efa77ffc7f3f2e315a5253f82fd58d78c59fc65280fb +size 717353 diff --git a/train/FloorPlan402/13/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png b/train/FloorPlan402/13/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png new file mode 100644 index 0000000000000000000000000000000000000000..7a440e70866fbceddd44ba4e24a29eef469a151e --- /dev/null +++ b/train/FloorPlan402/13/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ea65624ff15e0969587ce48f32a6e04a1683f1559ab25944a0d1ce6eca27a2b +size 754517 diff --git a/train/FloorPlan402/13/rgb_1.png b/train/FloorPlan402/13/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..518d32c0faf354fa3f539fe3d33c89eb8b513e22 --- /dev/null +++ b/train/FloorPlan402/13/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b89af8c70169ba0318ad6558a71cc69aa6dadaebfa05026ece8e250c303ec7a +size 891889 diff --git a/train/FloorPlan402/13/rgb_1_mask_Toilet|-00.52|00.00|+03.22.png b/train/FloorPlan402/13/rgb_1_mask_Toilet|-00.52|00.00|+03.22.png new file mode 100644 index 0000000000000000000000000000000000000000..5604567a715ba589fa429f60047f58bbcdc20cba --- /dev/null +++ b/train/FloorPlan402/13/rgb_1_mask_Toilet|-00.52|00.00|+03.22.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8126a8a849e0e3311794479c49ffb50006e008896bb73d46c6ca3d2783ee17c0 +size 778577 diff --git a/train/FloorPlan402/13/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png b/train/FloorPlan402/13/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png new file mode 100644 index 0000000000000000000000000000000000000000..885614f0cfd2e219a85ee4276bb8159642862fca --- /dev/null +++ b/train/FloorPlan402/13/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5be59fa5d0dc024fd3bf56a9deaa197e8af05b28d1028df952ff5f1c17f2c6ea +size 764224 diff --git a/train/FloorPlan402/13/semantic_0.png b/train/FloorPlan402/13/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1ca104963e4172e0e11c44876f831aa9ddd2fd9e Binary files /dev/null and b/train/FloorPlan402/13/semantic_0.png differ diff --git a/train/FloorPlan402/13/semantic_1.png b/train/FloorPlan402/13/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..47262ec363c50dde1d3360a9442f201287b18555 Binary files /dev/null and b/train/FloorPlan402/13/semantic_1.png differ diff --git a/train/FloorPlan402/14/0.json b/train/FloorPlan402/14/0.json new file mode 100644 index 0000000000000000000000000000000000000000..e9bc9f8d99be1cd5546542b0aeef36f25f51fa9f --- /dev/null +++ b/train/FloorPlan402/14/0.json @@ -0,0 +1,3001 @@ +{ + "object": [ + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "object_info": { + "name": "ShowerDoor_4666f48d", + "position": { + "x": -0.28208041191101074, + "y": 1.2287894487380981, + "z": 1.73020601272583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9108879566192627, + "objectType": "ShowerDoor", + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7050056457519531 + ] + ], + "center": { + "x": -0.7874165773391724, + "y": 1.162919282913208, + "z": 1.7307407855987549 + }, + "size": { + "x": 0.9921667575836182, + "y": 2.014890193939209, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "object_info": { + "name": "Cabinet_bd9c7c59", + "position": { + "x": -1.0596699714660645, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.3931381702423096, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0596699714660645, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -1.2823636531829834, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.4453873634338379, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "object_info": { + "name": "ToiletPaperHanger_f7f4dd68", + "position": { + "x": -0.07400000095367432, + "y": 1.1260000467300415, + "z": 3.686000108718872 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2730696201324463, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "assetId": "Toilet_Paper_Hanger_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399998605251312, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.641615152359009 + ] + ], + "center": { + "x": -0.11924838274717331, + "y": 1.1260000467300415, + "z": 3.748469114303589 + }, + "size": { + "x": 0.09049679338932037, + "y": 0.05908823013305664, + "z": 0.21370792388916016 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "object_info": { + "name": "TowelHolder_82b9bdf0", + "position": { + "x": -1.7200000286102295, + "y": 1.2139999866485596, + "z": 1.7400000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.00016904715448617935, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 0.8684328198432922, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3909187316894531, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.740128993988037 + ] + ], + "center": { + "x": -1.7201937437057495, + "y": 1.214041829109192, + "z": 1.79618501663208 + }, + "size": { + "x": 0.6585500240325928, + "y": 0.04162406921386719, + "z": 0.11211204528808594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "object_info": { + "name": "ShowerGlass_73a7c1c8", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.3258392810821533, + "objectType": "ShowerGlass", + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2808876037597656, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.7047996520996094 + ] + ], + "center": { + "x": -2.5499496459960938, + "y": 1.1622567176818848, + "z": 1.7305347919464111 + }, + "size": { + "x": 2.5381240844726562, + "y": 2.0134267807006836, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.52|+01.05|+05.10", + "object_info": { + "name": "Faucet_b2d11a28", + "position": { + "x": -1.524957299232483, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6435985565185547, + "objectType": "Faucet", + "objectId": "Faucet|-01.52|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2335190773010254, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -1.5258479118347168, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846576690673828, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "object_info": { + "name": "ScrubBrush_2f874c37", + "position": { + "x": -0.23153172433376312, + "y": -0.0003285333514213562, + "z": 3.8574726581573486 + }, + "rotation": { + "x": 8.19530469016172e-05, + "y": 0.0002286293456563726, + "z": 0.00018199534679297358 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1899999976158142, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.404581069946289, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.16538116335868835, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.790544033050537 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.790544033050537 + ] + ], + "center": { + "x": -0.23153193295001984, + "y": 0.23786580562591553, + "z": 3.8574726581573486 + }, + "size": { + "x": 0.13230153918266296, + "y": 0.4763892889022827, + "z": 0.13385725021362305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + -0.00032841425854712725, + 3.924400568008423 + ], + [ + -0.2976817488670349, + -0.0003288348962087184, + 3.924401044845581 + ], + [ + -0.2976822853088379, + -0.0003286375431343913, + 3.7905447483062744 + ], + [ + -0.16538169980049133, + -0.00032821690547280014, + 3.790544271469116 + ], + [ + -0.16538268327713013, + 0.47606056928634644, + 3.92440128326416 + ], + [ + -0.2976832687854767, + 0.476060152053833, + 3.9244017601013184 + ], + [ + -0.29768380522727966, + 0.47606033086776733, + 3.7905454635620117 + ], + [ + -0.1653832197189331, + 0.47606074810028076, + 3.7905449867248535 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "object_info": { + "name": "Cabinet_6809ef74", + "position": { + "x": -1.96287202835083, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-01.74|+00.03|+04.87" + ], + "distance": 2.2009689807891846, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.515770435333252, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -1.7397873401641846, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.44803380966186523, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "object_info": { + "name": "Cabinet_e90dc44e", + "position": { + "x": -1.0278019905090332, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|-00.80|+00.03|+04.93" + ], + "distance": 2.4058377742767334, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.5807002782821655, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -0.8047172427177429, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.4480339288711548, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.21|00.00|+03.54", + "object_info": { + "name": "Plunger_ed710244", + "position": { + "x": -0.2129979431629181, + "y": -0.0007912442088127136, + "z": 3.5369977951049805 + }, + "rotation": { + "x": -0.001175427925772965, + "y": 0.0010995414340868592, + "z": 0.0007850115653127432 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.25419020652771, + "objectType": "Plunger", + "objectId": "Plunger|-00.21|00.00|+03.54", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13884791731834412, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.462920665740967 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.462920665740967 + ] + ], + "center": { + "x": -0.21299861371517181, + "y": 0.26934096217155457, + "z": 3.536926507949829 + }, + "size": { + "x": 0.1483013927936554, + "y": 0.5393415689468384, + "z": 0.1480116844177246 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1388479471206665, + -0.0003248240100219846, + 3.610929489135742 + ], + [ + -0.2871449589729309, + -0.0003268355503678322, + 3.6109323501586914 + ], + [ + -0.2871478796005249, + -0.0003298464580439031, + 3.462925910949707 + ], + [ + -0.1388508528470993, + -0.0003278349176980555, + 3.462923049926758 + ], + [ + -0.13885526359081268, + 0.5390133857727051, + 3.6109185218811035 + ], + [ + -0.2871522903442383, + 0.5390113592147827, + 3.6109213829040527 + ], + [ + -0.2871551811695099, + 0.539008378982544, + 3.4629149436950684 + ], + [ + -0.13885816931724548, + 0.5390104055404663, + 3.462912082672119 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.200000047683716, + "y": 0.9006701707839966, + "z": 2.0999999046325684 + }, + "agent_rotation": { + "x": -0.0, + "y": 67.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.200000047683716, + "y": 1.5756702423095703, + "z": 2.0999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.12|+00.36|+04.63", + "Sink|-00.58|+00.93|+04.87", + "Cabinet|-01.06|+00.36|+04.63", + "ToiletPaperHanger|-00.07|+01.13|+03.69", + "CounterTop|-01.02|+00.95|+04.88", + "ScrubBrush|-00.23|00.00|+03.86", + "Mirror|-00.98|+01.58|+05.15", + "Cabinet|-01.96|+00.36|+04.63", + "Toilet|-00.52|00.00|+03.22", + "Cabinet|-01.03|+00.36|+04.63", + "Faucet|-00.58|+01.05|+05.10", + "Faucet|-01.52|+01.05|+05.10", + "Sink|-01.53|+00.93|+04.87", + "HandTowel|-00.11|+01.47|+04.81", + "SoapBottle|-01.06|+00.95|+05.03", + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "different_object": [ + "TowelHolder|-01.72|+01.21|+01.74", + "ShowerGlass|+00.00|+00.00|+00.00", + "Towel|-00.18|+01.42|+02.43", + "ToiletPaper|-00.19|+01.03|+03.37", + "ShowerDoor|-00.28|+01.23|+01.73", + "ToiletPaper|-00.20|+01.03|+03.18", + "TowelHolder|-00.07|+01.41|+02.43", + "Plunger|-00.21|00.00|+03.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/14/0_depth_npy.npy b/train/FloorPlan402/14/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ac57a6c15198c65ccb1b6e3f12a32a6bdb588c40 --- /dev/null +++ b/train/FloorPlan402/14/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd9908120592967fb06c0f654a987f821841f2a3bed0fc4ea31e1ee2c54b590b +size 3145856 diff --git a/train/FloorPlan402/14/0_semantic_sensor_npy.npy b/train/FloorPlan402/14/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..54184717c45bf308f6ad67ffd7eb7a81bf0fcd4d --- /dev/null +++ b/train/FloorPlan402/14/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bb6ecb242265aa91a657cf3c93ca950edb2b03226cf58ee11857eca434370af +size 2359424 diff --git a/train/FloorPlan402/14/1.json b/train/FloorPlan402/14/1.json new file mode 100644 index 0000000000000000000000000000000000000000..33d47193713eeb3c6ae12acf8b7f723fcd77bec2 --- /dev/null +++ b/train/FloorPlan402/14/1.json @@ -0,0 +1,2265 @@ +{ + "object": [ + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "object_info": { + "name": "Cabinet_bd9c7c59", + "position": { + "x": -1.0596699714660645, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.3931381702423096, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0596699714660645, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -1.2823636531829834, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.4453873634338379, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "object_info": { + "name": "ToiletPaperHanger_f7f4dd68", + "position": { + "x": -0.07400000095367432, + "y": 1.1260000467300415, + "z": 3.686000108718872 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2730696201324463, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "assetId": "Toilet_Paper_Hanger_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399998605251312, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.641615152359009 + ] + ], + "center": { + "x": -0.11924838274717331, + "y": 1.1260000467300415, + "z": 3.748469114303589 + }, + "size": { + "x": 0.09049679338932037, + "y": 0.05908823013305664, + "z": 0.21370792388916016 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.52|+01.05|+05.10", + "object_info": { + "name": "Faucet_b2d11a28", + "position": { + "x": -1.524957299232483, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6435985565185547, + "objectType": "Faucet", + "objectId": "Faucet|-01.52|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2335190773010254, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -1.5258479118347168, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846576690673828, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "object_info": { + "name": "ScrubBrush_2f874c37", + "position": { + "x": -0.23153172433376312, + "y": -0.0003285333514213562, + "z": 3.8574726581573486 + }, + "rotation": { + "x": 8.19530469016172e-05, + "y": 0.0002286293456563726, + "z": 0.00018199534679297358 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1899999976158142, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.404581069946289, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.16538116335868835, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.790544033050537 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.790544033050537 + ] + ], + "center": { + "x": -0.23153193295001984, + "y": 0.23786580562591553, + "z": 3.8574726581573486 + }, + "size": { + "x": 0.13230153918266296, + "y": 0.4763892889022827, + "z": 0.13385725021362305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + -0.00032841425854712725, + 3.924400568008423 + ], + [ + -0.2976817488670349, + -0.0003288348962087184, + 3.924401044845581 + ], + [ + -0.2976822853088379, + -0.0003286375431343913, + 3.7905447483062744 + ], + [ + -0.16538169980049133, + -0.00032821690547280014, + 3.790544271469116 + ], + [ + -0.16538268327713013, + 0.47606056928634644, + 3.92440128326416 + ], + [ + -0.2976832687854767, + 0.476060152053833, + 3.9244017601013184 + ], + [ + -0.29768380522727966, + 0.47606033086776733, + 3.7905454635620117 + ], + [ + -0.1653832197189331, + 0.47606074810028076, + 3.7905449867248535 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "object_info": { + "name": "Cabinet_6809ef74", + "position": { + "x": -1.96287202835083, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-01.74|+00.03|+04.87" + ], + "distance": 2.2009689807891846, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.515770435333252, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -1.7397873401641846, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.44803380966186523, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "object_info": { + "name": "Cabinet_e90dc44e", + "position": { + "x": -1.0278019905090332, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|-00.80|+00.03|+04.93" + ], + "distance": 2.4058377742767334, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.5807002782821655, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -0.8047172427177429, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.4480339288711548, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_0b2fc3ae", + "position": { + "x": -0.5691999793052673, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7834455966949463, + "objectType": "SinkBasin", + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3147736191749573, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -0.5792245864868164, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289019346237183, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_28b928cc", + "position": { + "x": -1.5148999691009521, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4363298416137695, + "objectType": "SinkBasin", + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2604734897613525, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -1.5249245166778564, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289020538330078, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "object_info": { + "name": "HandTowelHolder_691a856c", + "position": { + "x": -2.0940001010894775, + "y": 1.5440000295639038, + "z": 5.145999908447266 + }, + "rotation": { + "x": -0.0, + "y": 179.99984741210938, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7247064113616943, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0104947090148926, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.097372531890869 + ] + ], + "center": { + "x": -2.095900058746338, + "y": 1.4834413528442383, + "z": 5.1216864585876465 + }, + "size": { + "x": 0.17081069946289062, + "y": 0.21029233932495117, + "z": 0.04862785339355469 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.600000023841858, + "y": 0.9006701707839966, + "z": 3.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 38.000003814697266, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.600000023841858, + "y": 1.5756702423095703, + "z": 3.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.12|+00.36|+04.63", + "Sink|-00.58|+00.93|+04.87", + "Cabinet|-01.06|+00.36|+04.63", + "ToiletPaperHanger|-00.07|+01.13|+03.69", + "CounterTop|-01.02|+00.95|+04.88", + "ScrubBrush|-00.23|00.00|+03.86", + "Mirror|-00.98|+01.58|+05.15", + "Cabinet|-01.96|+00.36|+04.63", + "Toilet|-00.52|00.00|+03.22", + "Cabinet|-01.03|+00.36|+04.63", + "Faucet|-00.58|+01.05|+05.10", + "Faucet|-01.52|+01.05|+05.10", + "Sink|-01.53|+00.93|+04.87", + "HandTowel|-00.11|+01.47|+04.81", + "SoapBottle|-01.06|+00.95|+05.03", + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "different_object": [ + "Sink|-01.53|+00.93|+04.87|SinkBasin", + "Sink|-00.58|+00.93|+04.87|SinkBasin", + "HandTowelHolder|-02.09|+01.54|+05.15" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/14/1_depth_npy.npy b/train/FloorPlan402/14/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..02d9f9565b9b04e6b6a57c48d90231199a82cf84 --- /dev/null +++ b/train/FloorPlan402/14/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e879cdf00875ad024847d9046b85c88a25b63fd1b671024cc0645386063c89f2 +size 3145856 diff --git a/train/FloorPlan402/14/1_semantic_sensor_npy.npy b/train/FloorPlan402/14/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a941584073b27680f182d1a7dfc93c47c0d1f5f9 --- /dev/null +++ b/train/FloorPlan402/14/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef2b435ce67057f59214f033292f8b31f5a8b1055067d429e6c86b4d48ee77c1 +size 2359424 diff --git a/train/FloorPlan402/14/depth_0.png b/train/FloorPlan402/14/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b8c4d1086bbad0695232cae1c037a7e1075d0925 Binary files /dev/null and b/train/FloorPlan402/14/depth_0.png differ diff --git a/train/FloorPlan402/14/depth_1.png b/train/FloorPlan402/14/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ef947e70c7586339c22973b217068acc289e092b Binary files /dev/null and b/train/FloorPlan402/14/depth_1.png differ diff --git a/train/FloorPlan402/14/mask_questions.jsonl b/train/FloorPlan402/14/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa884e8a0ceeabd28af3ee6de8e6aa334f9321a0 --- /dev/null +++ b/train/FloorPlan402/14/mask_questions.jsonl @@ -0,0 +1,10 @@ +{"id": 15073, "folder_dir": "FloorPlan402/14", "pair_name": "0-1:Cabinet|-00.12|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Sink\nC. TowelHolder\nD. ToiletPaper", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/14/rgb_0.png", "image_2": "FloorPlan402/14/rgb_1.png", "mask_image": "FloorPlan402/14/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png", "options": ["Cabinet", "Sink", "TowelHolder", "ToiletPaper"]} +{"id": 15074, "folder_dir": "FloorPlan402/14", "pair_name": "0-1:Cabinet|-01.06|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaper\nB. Cabinet\nC. Cabinet\nD. Plunger", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan402/14/rgb_0.png", "image_2": "FloorPlan402/14/rgb_1.png", "mask_image": "FloorPlan402/14/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png", "options": ["ToiletPaper", "Cabinet", "Cabinet", "Plunger"]} +{"id": 15075, "folder_dir": "FloorPlan402/14", "pair_name": "0-1:Cabinet|-01.03|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. TowelHolder\nC. Cabinet\nD. TowelHolder", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/14/rgb_0.png", "image_2": "FloorPlan402/14/rgb_1.png", "mask_image": "FloorPlan402/14/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png", "options": ["Cabinet", "TowelHolder", "Cabinet", "TowelHolder"]} +{"id": 15076, "folder_dir": "FloorPlan402/14", "pair_name": "0-1:SoapBottle|-01.06|+00.95|+05.03", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaper\nB. Cabinet\nC. Towel\nD. SoapBottle", "answer": "D", "object_name": "SoapBottle", "image_1": "FloorPlan402/14/rgb_0.png", "image_2": "FloorPlan402/14/rgb_1.png", "mask_image": "FloorPlan402/14/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png", "options": ["ToiletPaper", "Cabinet", "Towel", "SoapBottle"]} +{"id": 15077, "folder_dir": "FloorPlan402/14", "pair_name": "1-0:Cabinet|-00.12|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. SinkBasin\nC. Sink\nD. SinkBasin", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/14/rgb_1.png", "image_2": "FloorPlan402/14/rgb_0.png", "mask_image": "FloorPlan402/14/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png", "options": ["Cabinet", "SinkBasin", "Sink", "SinkBasin"]} +{"id": 15078, "folder_dir": "FloorPlan402/14", "pair_name": "1-0:Sink|-00.58|+00.93|+04.87", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SinkBasin\nB. SinkBasin\nC. Cabinet\nD. Sink", "answer": "D", "object_name": "Sink", "image_1": "FloorPlan402/14/rgb_1.png", "image_2": "FloorPlan402/14/rgb_0.png", "mask_image": "FloorPlan402/14/rgb_0_mask_Sink|-00.58|+00.93|+04.87.png", "options": ["SinkBasin", "SinkBasin", "Cabinet", "Sink"]} +{"id": 15079, "folder_dir": "FloorPlan402/14", "pair_name": "1-0:Cabinet|-01.06|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. HandTowelHolder\nC. SinkBasin\nD. Cabinet", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/14/rgb_1.png", "image_2": "FloorPlan402/14/rgb_0.png", "mask_image": "FloorPlan402/14/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png", "options": ["Cabinet", "HandTowelHolder", "SinkBasin", "Cabinet"]} +{"id": 15080, "folder_dir": "FloorPlan402/14", "pair_name": "1-0:Mirror|-00.98|+01.58|+05.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. SinkBasin\nC. HandTowelHolder\nD. Mirror", "answer": "D", "object_name": "Mirror", "image_1": "FloorPlan402/14/rgb_1.png", "image_2": "FloorPlan402/14/rgb_0.png", "mask_image": "FloorPlan402/14/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png", "options": ["Cabinet", "SinkBasin", "HandTowelHolder", "Mirror"]} +{"id": 15081, "folder_dir": "FloorPlan402/14", "pair_name": "1-0:Cabinet|-01.96|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. SinkBasin\nC. SinkBasin\nD. Cabinet", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/14/rgb_1.png", "image_2": "FloorPlan402/14/rgb_0.png", "mask_image": "FloorPlan402/14/rgb_0_mask_Cabinet|-01.96|+00.36|+04.63.png", "options": ["Cabinet", "SinkBasin", "SinkBasin", "Cabinet"]} +{"id": 15082, "folder_dir": "FloorPlan402/14", "pair_name": "1-0:Cabinet|-01.03|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. SinkBasin\nC. Cabinet\nD. SinkBasin", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/14/rgb_1.png", "image_2": "FloorPlan402/14/rgb_0.png", "mask_image": "FloorPlan402/14/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png", "options": ["Cabinet", "SinkBasin", "Cabinet", "SinkBasin"]} diff --git a/train/FloorPlan402/14/questions_distance.jsonl b/train/FloorPlan402/14/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78e6ded651a17c9c87bac92314793c44f9901b65 --- /dev/null +++ b/train/FloorPlan402/14/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4475, "folder_dir": "FloorPlan402/14", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Mirror\nB. HandTowel\nC. SoapBottle\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "SoapBottle", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Mirror", "semantic_id": "Mirror|-00.98|+01.58|+05.15", "distance": 0.6880442761473844, "com": {"x": -1.0680840015411377, "y": 1.5782454013824463, "z": 5.131521701812744}}, {"text": "HandTowel", "semantic_id": "HandTowel|-00.11|+01.47|+04.81", "distance": 0.9739231307974567, "com": {"x": -0.1150742918252945, "y": 1.2717453241348267, "z": 4.810999870300293}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-01.06|+00.95|+05.03", "distance": 0.22396437272167488, "com": {"x": -1.0608563423156738, "y": 1.101635456085205, "z": 5.029000282287598}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/14/rgb_0.png", "image_2": "FloorPlan402/14/rgb_1.png"} +{"id": 4476, "folder_dir": "FloorPlan402/14", "query": "Which of the following objects is closest to Mirror in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SoapBottle\nB. HandTowel\nC. CounterTop\nD. Other\n", "answer": "A", "src_object": "Mirror", "target_object": "SoapBottle", "question": "Which of the following objects is closest to Mirror in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "SoapBottle", "semantic_id": "SoapBottle|-01.06|+00.95|+05.03", "distance": 0.4875652986786178, "com": {"x": -1.0608563423156738, "y": 1.101635456085205, "z": 5.029000282287598}}, {"text": "HandTowel", "semantic_id": "HandTowel|-00.11|+01.47|+04.81", "distance": 1.051144161683624, "com": {"x": -0.1150742918252945, "y": 1.2717453241348267, "z": 4.810999870300293}}, {"text": "CounterTop", "semantic_id": "CounterTop|-01.02|+00.95|+04.88", "distance": 0.6880442761473844, "com": {"x": -1.028404951095581, "y": 0.9401383399963379, "z": 4.87725830078125}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/14/rgb_0.png", "image_2": "FloorPlan402/14/rgb_1.png"} diff --git a/train/FloorPlan402/14/rgb_0.png b/train/FloorPlan402/14/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..151c7dd603bcca89f15308f7b9de4f83d1f3777a --- /dev/null +++ b/train/FloorPlan402/14/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:345ad0b3ff156b13376c8e8ba3c7191fd33092d162d75e925308cda6c2256488 +size 831031 diff --git a/train/FloorPlan402/14/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png b/train/FloorPlan402/14/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..81e33e73834bb8cd74ac1a40867c6b0edcf0f73f --- /dev/null +++ b/train/FloorPlan402/14/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f9239bdb92ce721899db62a243b667fc1b7190ea513e843cb68cf9cd204b2ee +size 729602 diff --git a/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png b/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..a3b60a635e4f05d978c8785db31906263526adb1 --- /dev/null +++ b/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0770cdef4737708d6d1ea93d1138d9e1d5a6887491dcac1eebd988647582c28e +size 725987 diff --git a/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png b/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..f6b8fac878cca3aae3ae44b6adbeb16257d07dfd --- /dev/null +++ b/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dd36735b6de16c79589eaf9aefe822f4cfa228f8433ac49ad764a7be3a69a6c +size 719260 diff --git a/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.96|+00.36|+04.63.png b/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.96|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..e2ccd8f274c548d52b3c6591bf624caa6592266d --- /dev/null +++ b/train/FloorPlan402/14/rgb_0_mask_Cabinet|-01.96|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4721ec9b16df1e4ac7dc4f498b67ed41542c8f629cbe72b7de682b54dd47e566 +size 732157 diff --git a/train/FloorPlan402/14/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png b/train/FloorPlan402/14/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png new file mode 100644 index 0000000000000000000000000000000000000000..c6c4bf2c337fd22689a39f925e39ab98817a2ad7 --- /dev/null +++ b/train/FloorPlan402/14/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3e760423331622579add1f35542956996ea6c862d10971480f2363514f0781d +size 708421 diff --git a/train/FloorPlan402/14/rgb_0_mask_Sink|-00.58|+00.93|+04.87.png b/train/FloorPlan402/14/rgb_0_mask_Sink|-00.58|+00.93|+04.87.png new file mode 100644 index 0000000000000000000000000000000000000000..710d37fe0040740240e55ce3861a91c8a84da92a --- /dev/null +++ b/train/FloorPlan402/14/rgb_0_mask_Sink|-00.58|+00.93|+04.87.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09dfa755a3303c775070718abee37d44b287bdd8db57e2a09c751820df42efc2 +size 728620 diff --git a/train/FloorPlan402/14/rgb_1.png b/train/FloorPlan402/14/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a288ff4ac431e06da7b1d516921837fc0a03303a --- /dev/null +++ b/train/FloorPlan402/14/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f26d174558c19e35716f4c0fa7a395716c63f3afcd8c8cecaa201b38b477a0f7 +size 872246 diff --git a/train/FloorPlan402/14/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png b/train/FloorPlan402/14/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..a92dfea02f45f7411eeadba9ed650039bfb79b17 --- /dev/null +++ b/train/FloorPlan402/14/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:810979ae1497ffd21cdfaf5374407e73571300e76e7f81be71d29dbcff2663f0 +size 759661 diff --git a/train/FloorPlan402/14/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png b/train/FloorPlan402/14/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..425504d0abaeef1d187be0aa87cbcf37e46a6d04 --- /dev/null +++ b/train/FloorPlan402/14/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:145057032f2fdcb1daba48138b978803672e6ff7fb404c53a180a5f3497329c9 +size 760467 diff --git a/train/FloorPlan402/14/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png b/train/FloorPlan402/14/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..44712d47d7ca55a86d45d9c9bf7fa5907ae7abde --- /dev/null +++ b/train/FloorPlan402/14/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e94f97988fcbe99abd60b5b864c3c751e90e0431a90ba6f559cd2553a8f2225 +size 760426 diff --git a/train/FloorPlan402/14/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png b/train/FloorPlan402/14/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png new file mode 100644 index 0000000000000000000000000000000000000000..83d57e44e802de3781f126fd5425af8ed9327fdb --- /dev/null +++ b/train/FloorPlan402/14/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45aa3411fb30cabefbfde8da811132189908b494554ae398f79d16c9cc8c183b +size 762985 diff --git a/train/FloorPlan402/14/semantic_0.png b/train/FloorPlan402/14/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e3d514e6dcb75a59b29c25c3754206d7bdee935f Binary files /dev/null and b/train/FloorPlan402/14/semantic_0.png differ diff --git a/train/FloorPlan402/14/semantic_1.png b/train/FloorPlan402/14/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0d9e1ab16d8768d256f2d45ce375a9700bb0fa90 Binary files /dev/null and b/train/FloorPlan402/14/semantic_1.png differ diff --git a/train/FloorPlan402/16/0.json b/train/FloorPlan402/16/0.json new file mode 100644 index 0000000000000000000000000000000000000000..527cbe2c600b69e3bdf30a1ad26573c64d872633 --- /dev/null +++ b/train/FloorPlan402/16/0.json @@ -0,0 +1,2151 @@ +{ + "object": [ + { + "objectId": "LightSwitch|-02.50|+01.37|+05.15", + "object_info": { + "name": "LightSwitch_2f6f7add", + "position": { + "x": -2.496000051498413, + "y": 1.3669999837875366, + "z": 5.146415710449219 + }, + "rotation": { + "x": -0.0, + "y": 180.00033569335938, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7325804233551025, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-02.50|+01.37|+05.15", + "assetId": "Light_Switch_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4371230602264404, + 1.4276190996170044, + 5.146416187286377 + ], + [ + -2.4371230602264404, + 1.4276190996170044, + 5.11565637588501 + ], + [ + -2.4371230602264404, + 1.3063808679580688, + 5.146416187286377 + ], + [ + -2.4371230602264404, + 1.3063808679580688, + 5.11565637588501 + ], + [ + -2.5548770427703857, + 1.4276190996170044, + 5.146416187286377 + ], + [ + -2.5548770427703857, + 1.4276190996170044, + 5.11565637588501 + ], + [ + -2.5548770427703857, + 1.3063808679580688, + 5.146416187286377 + ], + [ + -2.5548770427703857, + 1.3063808679580688, + 5.11565637588501 + ] + ], + "center": { + "x": -2.496000051498413, + "y": 1.3669999837875366, + "z": 5.131036281585693 + }, + "size": { + "x": 0.11775398254394531, + "y": 0.12123823165893555, + "z": 0.030759811401367188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "object_info": { + "name": "Cabinet_bd9c7c59", + "position": { + "x": -1.0596699714660645, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.3931381702423096, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0596699714660645, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -1.2823636531829834, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.4453873634338379, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "object_info": { + "name": "GarbageCan_4bfb5574", + "position": { + "x": -2.346003770828247, + "y": 0.0030006468296051025, + "z": 4.878763675689697 + }, + "rotation": { + "x": 0.9101229310035706, + "y": 180.002685546875, + "z": -6.295583261817228e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 2.5659396648406982, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.001185894012451, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.001185894012451, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 4.626857757568359 + ], + [ + -2.679744243621826, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.679744243621826, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 4.626857757568359 + ] + ], + "center": { + "x": -2.3404650688171387, + "y": 0.2547769844532013, + "z": 4.862797737121582 + }, + "size": { + "x": 0.678558349609375, + "y": 0.5102071762084961, + "z": 0.4718799591064453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.679751396179199, + -0.0060831159353256226, + 4.63466739654541 + ], + [ + -2.001188278198242, + -0.006083060055971146, + 4.6346354484558105 + ], + [ + -2.0011661052703857, + 0.0014130910858511925, + 5.106532573699951 + ], + [ + -2.6797292232513428, + 0.0014130352064967155, + 5.106564521789551 + ], + [ + -2.6797518730163574, + 0.5030497312545776, + 4.626579761505127 + ], + [ + -2.0011887550354004, + 0.5030497312545776, + 4.626547813415527 + ], + [ + -2.001166582107544, + 0.5105459094047546, + 5.098444938659668 + ], + [ + -2.679729700088501, + 0.5105459094047546, + 5.098476886749268 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.52|+01.05|+05.10", + "object_info": { + "name": "Faucet_b2d11a28", + "position": { + "x": -1.524957299232483, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6435985565185547, + "objectType": "Faucet", + "objectId": "Faucet|-01.52|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2335190773010254, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -1.5258479118347168, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846576690673828, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "object_info": { + "name": "Cabinet_6809ef74", + "position": { + "x": -1.96287202835083, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-01.74|+00.03|+04.87" + ], + "distance": 2.2009689807891846, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.515770435333252, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -1.7397873401641846, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.44803380966186523, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "object_info": { + "name": "Cabinet_e90dc44e", + "position": { + "x": -1.0278019905090332, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|-00.80|+00.03|+04.93" + ], + "distance": 2.4058377742767334, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.5807002782821655, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -0.8047172427177429, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.4480339288711548, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_0b2fc3ae", + "position": { + "x": -0.5691999793052673, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7834455966949463, + "objectType": "SinkBasin", + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3147736191749573, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -0.5792245864868164, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289019346237183, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_28b928cc", + "position": { + "x": -1.5148999691009521, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4363298416137695, + "objectType": "SinkBasin", + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2604734897613525, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -1.5249245166778564, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289020538330078, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "object_info": { + "name": "HandTowelHolder_691a856c", + "position": { + "x": -2.0940001010894775, + "y": 1.5440000295639038, + "z": 5.145999908447266 + }, + "rotation": { + "x": -0.0, + "y": 179.99984741210938, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7247064113616943, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0104947090148926, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.097372531890869 + ] + ], + "center": { + "x": -2.095900058746338, + "y": 1.4834413528442383, + "z": 5.1216864585876465 + }, + "size": { + "x": 0.17081069946289062, + "y": 0.21029233932495117, + "z": 0.04862785339355469 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.4000000953674316, + "y": 0.9006701707839966, + "z": 4.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 22.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.4000000953674316, + "y": 1.5756702423095703, + "z": 4.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-01.06|+00.36|+04.63", + "CounterTop|-01.02|+00.95|+04.88", + "Mirror|-00.98|+01.58|+05.15", + "Cabinet|-01.03|+00.36|+04.63", + "Sink|-00.58|+00.93|+04.87|SinkBasin", + "Faucet|-00.58|+01.05|+05.10", + "HandTowelHolder|-00.07|+01.57|+04.81", + "Cabinet|-00.12|+00.36|+04.63", + "Sink|-01.53|+00.93|+04.87", + "HandTowel|-00.11|+01.47|+04.81", + "SoapBottle|-01.06|+00.95|+05.03", + "Sink|-00.58|+00.93|+04.87" + ], + "different_object": [ + "LightSwitch|-02.50|+01.37|+05.15", + "Sink|-01.53|+00.93|+04.87|SinkBasin", + "Cabinet|-01.96|+00.36|+04.63", + "GarbageCan|-02.35|+00.00|+04.88", + "Faucet|-01.52|+01.05|+05.10", + "HandTowelHolder|-02.09|+01.54|+05.15" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/16/0_depth_npy.npy b/train/FloorPlan402/16/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d96ce7f3e93c05f104e63ce2ed43191614b2434d --- /dev/null +++ b/train/FloorPlan402/16/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a44725d008a1c25441465c145550735cda3ff9ab24acc7a90194646157d315d +size 3145856 diff --git a/train/FloorPlan402/16/0_semantic_sensor_npy.npy b/train/FloorPlan402/16/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6ea2117970dfcd7de270c09acc6b3542017082c0 --- /dev/null +++ b/train/FloorPlan402/16/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9d542755ee147070bff922ed2aea96ccf7e66bef482f3199d7892d60a740bfa +size 2359424 diff --git a/train/FloorPlan402/16/1.json b/train/FloorPlan402/16/1.json new file mode 100644 index 0000000000000000000000000000000000000000..524238df32dbc41abccce4894f7b92818ef44b1e --- /dev/null +++ b/train/FloorPlan402/16/1.json @@ -0,0 +1,2997 @@ +{ + "object": [ + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "object_info": { + "name": "ShowerDoor_4666f48d", + "position": { + "x": -0.28208041191101074, + "y": 1.2287894487380981, + "z": 1.73020601272583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9108879566192627, + "objectType": "ShowerDoor", + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7050056457519531 + ] + ], + "center": { + "x": -0.7874165773391724, + "y": 1.162919282913208, + "z": 1.7307407855987549 + }, + "size": { + "x": 0.9921667575836182, + "y": 2.014890193939209, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "object_info": { + "name": "Cabinet_bd9c7c59", + "position": { + "x": -1.0596699714660645, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.3931381702423096, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0596699714660645, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -1.2823636531829834, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.4453873634338379, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "object_info": { + "name": "ToiletPaperHanger_f7f4dd68", + "position": { + "x": -0.07400000095367432, + "y": 1.1260000467300415, + "z": 3.686000108718872 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2730696201324463, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "assetId": "Toilet_Paper_Hanger_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399998605251312, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.641615152359009 + ] + ], + "center": { + "x": -0.11924838274717331, + "y": 1.1260000467300415, + "z": 3.748469114303589 + }, + "size": { + "x": 0.09049679338932037, + "y": 0.05908823013305664, + "z": 0.21370792388916016 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "object_info": { + "name": "TowelHolder_82b9bdf0", + "position": { + "x": -1.7200000286102295, + "y": 1.2139999866485596, + "z": 1.7400000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.00016904715448617935, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 0.8684328198432922, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3909187316894531, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.740128993988037 + ] + ], + "center": { + "x": -1.7201937437057495, + "y": 1.214041829109192, + "z": 1.79618501663208 + }, + "size": { + "x": 0.6585500240325928, + "y": 0.04162406921386719, + "z": 0.11211204528808594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "object_info": { + "name": "ShowerGlass_73a7c1c8", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.3258392810821533, + "objectType": "ShowerGlass", + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2808876037597656, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.7047996520996094 + ] + ], + "center": { + "x": -2.5499496459960938, + "y": 1.1622567176818848, + "z": 1.7305347919464111 + }, + "size": { + "x": 2.5381240844726562, + "y": 2.0134267807006836, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "object_info": { + "name": "ScrubBrush_2f874c37", + "position": { + "x": -0.23153172433376312, + "y": -0.0003285333514213562, + "z": 3.8574726581573486 + }, + "rotation": { + "x": 8.19530469016172e-05, + "y": 0.0002286293456563726, + "z": 0.00018199534679297358 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1899999976158142, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.404581069946289, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.16538116335868835, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.790544033050537 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.790544033050537 + ] + ], + "center": { + "x": -0.23153193295001984, + "y": 0.23786580562591553, + "z": 3.8574726581573486 + }, + "size": { + "x": 0.13230153918266296, + "y": 0.4763892889022827, + "z": 0.13385725021362305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + -0.00032841425854712725, + 3.924400568008423 + ], + [ + -0.2976817488670349, + -0.0003288348962087184, + 3.924401044845581 + ], + [ + -0.2976822853088379, + -0.0003286375431343913, + 3.7905447483062744 + ], + [ + -0.16538169980049133, + -0.00032821690547280014, + 3.790544271469116 + ], + [ + -0.16538268327713013, + 0.47606056928634644, + 3.92440128326416 + ], + [ + -0.2976832687854767, + 0.476060152053833, + 3.9244017601013184 + ], + [ + -0.29768380522727966, + 0.47606033086776733, + 3.7905454635620117 + ], + [ + -0.1653832197189331, + 0.47606074810028076, + 3.7905449867248535 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "object_info": { + "name": "Cabinet_e90dc44e", + "position": { + "x": -1.0278019905090332, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|-00.80|+00.03|+04.93" + ], + "distance": 2.4058377742767334, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.5807002782821655, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -0.8047172427177429, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.4480339288711548, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.21|00.00|+03.54", + "object_info": { + "name": "Plunger_ed710244", + "position": { + "x": -0.2129979431629181, + "y": -0.0007912442088127136, + "z": 3.5369977951049805 + }, + "rotation": { + "x": -0.001175427925772965, + "y": 0.0010995414340868592, + "z": 0.0007850115653127432 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.25419020652771, + "objectType": "Plunger", + "objectId": "Plunger|-00.21|00.00|+03.54", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13884791731834412, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.462920665740967 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.462920665740967 + ] + ], + "center": { + "x": -0.21299861371517181, + "y": 0.26934096217155457, + "z": 3.536926507949829 + }, + "size": { + "x": 0.1483013927936554, + "y": 0.5393415689468384, + "z": 0.1480116844177246 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1388479471206665, + -0.0003248240100219846, + 3.610929489135742 + ], + [ + -0.2871449589729309, + -0.0003268355503678322, + 3.6109323501586914 + ], + [ + -0.2871478796005249, + -0.0003298464580439031, + 3.462925910949707 + ], + [ + -0.1388508528470993, + -0.0003278349176980555, + 3.462923049926758 + ], + [ + -0.13885526359081268, + 0.5390133857727051, + 3.6109185218811035 + ], + [ + -0.2871522903442383, + 0.5390113592147827, + 3.6109213829040527 + ], + [ + -0.2871551811695099, + 0.539008378982544, + 3.4629149436950684 + ], + [ + -0.13885816931724548, + 0.5390104055404663, + 3.462912082672119 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_0b2fc3ae", + "position": { + "x": -0.5691999793052673, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7834455966949463, + "objectType": "SinkBasin", + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3147736191749573, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -0.5792245864868164, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289019346237183, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "object_info": { + "name": "ShowerHead_2c6df809", + "position": { + "x": -0.09399999678134918, + "y": 1.0169999599456787, + "z": 0.8899999856948853 + }, + "rotation": { + "x": -0.0, + "y": 269.9997863769531, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.497692584991455, + "objectType": "ShowerHead", + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "assetId": "Shower_Head_1", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.08045965433120728, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 0.7655603885650635 + ] + ], + "center": { + "x": -0.20324942469596863, + "y": 1.6674669981002808, + "z": 0.9319844245910645 + }, + "size": { + "x": 0.2455795407295227, + "y": 1.810887098312378, + "z": 0.33284807205200195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.5, + "y": 0.9006701707839966, + "z": 3.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 88.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.5, + "y": 1.5756702423095703, + "z": 3.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-01.06|+00.36|+04.63", + "CounterTop|-01.02|+00.95|+04.88", + "Mirror|-00.98|+01.58|+05.15", + "Cabinet|-01.03|+00.36|+04.63", + "Sink|-00.58|+00.93|+04.87|SinkBasin", + "Faucet|-00.58|+01.05|+05.10", + "HandTowelHolder|-00.07|+01.57|+04.81", + "Cabinet|-00.12|+00.36|+04.63", + "Sink|-01.53|+00.93|+04.87", + "HandTowel|-00.11|+01.47|+04.81", + "SoapBottle|-01.06|+00.95|+05.03", + "Sink|-00.58|+00.93|+04.87" + ], + "different_object": [ + "ToiletPaperHanger|-00.07|+01.13|+03.69", + "TowelHolder|-01.72|+01.21|+01.74", + "ScrubBrush|-00.23|00.00|+03.86", + "Toilet|-00.52|00.00|+03.22", + "ShowerGlass|+00.00|+00.00|+00.00", + "Towel|-00.18|+01.42|+02.43", + "ShowerHead|-00.09|+01.02|+00.89", + "ToiletPaper|-00.19|+01.03|+03.37", + "ShowerDoor|-00.28|+01.23|+01.73", + "ToiletPaper|-00.20|+01.03|+03.18", + "TowelHolder|-00.07|+01.41|+02.43", + "Plunger|-00.21|00.00|+03.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/16/1_depth_npy.npy b/train/FloorPlan402/16/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3552b022c9e810e482f0b2606f070381b62c2f92 --- /dev/null +++ b/train/FloorPlan402/16/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34ddd2b0a333786c5318330b9f48779d3cdfafab13276c70b71531cd8c723a8b +size 3145856 diff --git a/train/FloorPlan402/16/1_semantic_sensor_npy.npy b/train/FloorPlan402/16/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2e7750e9779303a4dc7e590ac08185e79f92bf13 --- /dev/null +++ b/train/FloorPlan402/16/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecbffe9bb070c417df11fbce17cc8ef949e25f51a70c7e02a06a585ffbe68416 +size 2359424 diff --git a/train/FloorPlan402/16/depth_0.png b/train/FloorPlan402/16/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e55c4a71a889b78c65f8169e3f4c043e7376be62 Binary files /dev/null and b/train/FloorPlan402/16/depth_0.png differ diff --git a/train/FloorPlan402/16/depth_1.png b/train/FloorPlan402/16/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3c3361280359b46232da37f43740c7a3a30f0a5a Binary files /dev/null and b/train/FloorPlan402/16/depth_1.png differ diff --git a/train/FloorPlan402/16/mask_questions.jsonl b/train/FloorPlan402/16/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cd89ba136d3b7d8c203977e025af3bf6193278e --- /dev/null +++ b/train/FloorPlan402/16/mask_questions.jsonl @@ -0,0 +1,12 @@ +{"id": 15061, "folder_dir": "FloorPlan402/16", "pair_name": "0-1:Cabinet|-01.06|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. LightSwitch\nC. CounterTop\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan402/16/rgb_0.png", "image_2": "FloorPlan402/16/rgb_1.png", "mask_image": "FloorPlan402/16/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png", "options": ["GarbageCan", "LightSwitch", "CounterTop", "Cabinet"]} +{"id": 15062, "folder_dir": "FloorPlan402/16", "pair_name": "0-1:Mirror|-00.98|+01.58|+05.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Mirror\nB. Faucet\nC. Cabinet\nD. SinkBasin", "answer": "A", "object_name": "Mirror", "image_1": "FloorPlan402/16/rgb_0.png", "image_2": "FloorPlan402/16/rgb_1.png", "mask_image": "FloorPlan402/16/rgb_1_mask_Mirror|-00.98|+01.58|+05.15.png", "options": ["Mirror", "Faucet", "Cabinet", "SinkBasin"]} +{"id": 15063, "folder_dir": "FloorPlan402/16", "pair_name": "0-1:Cabinet|-01.03|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Faucet\nB. Cabinet\nC. HandTowelHolder\nD. Cabinet", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan402/16/rgb_0.png", "image_2": "FloorPlan402/16/rgb_1.png", "mask_image": "FloorPlan402/16/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png", "options": ["Faucet", "Cabinet", "HandTowelHolder", "Cabinet"]} +{"id": 15064, "folder_dir": "FloorPlan402/16", "pair_name": "0-1:Cabinet|-00.12|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Cabinet\nC. GarbageCan\nD. Faucet", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/16/rgb_0.png", "image_2": "FloorPlan402/16/rgb_1.png", "mask_image": "FloorPlan402/16/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png", "options": ["Cabinet", "Cabinet", "GarbageCan", "Faucet"]} +{"id": 15065, "folder_dir": "FloorPlan402/16", "pair_name": "0-1:Sink|-01.53|+00.93|+04.87", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Sink\nC. Faucet\nD. GarbageCan", "answer": "B", "object_name": "Sink", "image_1": "FloorPlan402/16/rgb_0.png", "image_2": "FloorPlan402/16/rgb_1.png", "mask_image": "FloorPlan402/16/rgb_1_mask_Sink|-01.53|+00.93|+04.87.png", "options": ["Cabinet", "Sink", "Faucet", "GarbageCan"]} +{"id": 15066, "folder_dir": "FloorPlan402/16", "pair_name": "0-1:SoapBottle|-01.06|+00.95|+05.03", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Cabinet\nC. SoapBottle\nD. Faucet", "answer": "C", "object_name": "SoapBottle", "image_1": "FloorPlan402/16/rgb_0.png", "image_2": "FloorPlan402/16/rgb_1.png", "mask_image": "FloorPlan402/16/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png", "options": ["GarbageCan", "Cabinet", "SoapBottle", "Faucet"]} +{"id": 15067, "folder_dir": "FloorPlan402/16", "pair_name": "1-0:Cabinet|-01.06|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CounterTop\nB. ShowerGlass\nC. TowelHolder\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan402/16/rgb_1.png", "image_2": "FloorPlan402/16/rgb_0.png", "mask_image": "FloorPlan402/16/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png", "options": ["CounterTop", "ShowerGlass", "TowelHolder", "Cabinet"]} +{"id": 15068, "folder_dir": "FloorPlan402/16", "pair_name": "1-0:Mirror|-00.98|+01.58|+05.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Mirror\nB. Cabinet\nC. Plunger\nD. ShowerDoor", "answer": "A", "object_name": "Mirror", "image_1": "FloorPlan402/16/rgb_1.png", "image_2": "FloorPlan402/16/rgb_0.png", "mask_image": "FloorPlan402/16/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png", "options": ["Mirror", "Cabinet", "Plunger", "ShowerDoor"]} +{"id": 15069, "folder_dir": "FloorPlan402/16", "pair_name": "1-0:Cabinet|-01.03|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. ToiletPaper\nC. Plunger\nD. Cabinet", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/16/rgb_1.png", "image_2": "FloorPlan402/16/rgb_0.png", "mask_image": "FloorPlan402/16/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png", "options": ["Cabinet", "ToiletPaper", "Plunger", "Cabinet"]} +{"id": 15070, "folder_dir": "FloorPlan402/16", "pair_name": "1-0:Faucet|-00.58|+01.05|+05.10", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Faucet\nC. ToiletPaper\nD. ShowerDoor", "answer": "B", "object_name": "Faucet", "image_1": "FloorPlan402/16/rgb_1.png", "image_2": "FloorPlan402/16/rgb_0.png", "mask_image": "FloorPlan402/16/rgb_0_mask_Faucet|-00.58|+01.05|+05.10.png", "options": ["Cabinet", "Faucet", "ToiletPaper", "ShowerDoor"]} +{"id": 15071, "folder_dir": "FloorPlan402/16", "pair_name": "1-0:Cabinet|-00.12|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ScrubBrush\nB. ToiletPaper\nC. Cabinet\nD. Cabinet", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan402/16/rgb_1.png", "image_2": "FloorPlan402/16/rgb_0.png", "mask_image": "FloorPlan402/16/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png", "options": ["ScrubBrush", "ToiletPaper", "Cabinet", "Cabinet"]} +{"id": 15072, "folder_dir": "FloorPlan402/16", "pair_name": "1-0:SoapBottle|-01.06|+00.95|+05.03", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plunger\nB. ShowerHead\nC. Cabinet\nD. SoapBottle", "answer": "D", "object_name": "SoapBottle", "image_1": "FloorPlan402/16/rgb_1.png", "image_2": "FloorPlan402/16/rgb_0.png", "mask_image": "FloorPlan402/16/rgb_0_mask_SoapBottle|-01.06|+00.95|+05.03.png", "options": ["Plunger", "ShowerHead", "Cabinet", "SoapBottle"]} diff --git a/train/FloorPlan402/16/questions_distance.jsonl b/train/FloorPlan402/16/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea8303f5c247da8f907ccb7ce68066da12ebdb24 --- /dev/null +++ b/train/FloorPlan402/16/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4473, "folder_dir": "FloorPlan402/16", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SoapBottle\nB. HandTowel\nC. Mirror\nD. Other\n", "answer": "A", "src_object": "CounterTop", "target_object": "SoapBottle", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "SoapBottle", "semantic_id": "SoapBottle|-01.06|+00.95|+05.03", "distance": 0.22396437272167488, "com": {"x": -1.0608563423156738, "y": 1.101635456085205, "z": 5.029000282287598}}, {"text": "HandTowel", "semantic_id": "HandTowel|-00.11|+01.47|+04.81", "distance": 0.9739231307974567, "com": {"x": -0.1150742918252945, "y": 1.2717453241348267, "z": 4.810999870300293}}, {"text": "Mirror", "semantic_id": "Mirror|-00.98|+01.58|+05.15", "distance": 0.6880442761473844, "com": {"x": -1.0680840015411377, "y": 1.5782454013824463, "z": 5.131521701812744}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/16/rgb_0.png", "image_2": "FloorPlan402/16/rgb_1.png"} +{"id": 4474, "folder_dir": "FloorPlan402/16", "query": "Which of the following objects is closest to Mirror in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SoapBottle\nB. HandTowel\nC. CounterTop\nD. Other\n", "answer": "A", "src_object": "Mirror", "target_object": "SoapBottle", "question": "Which of the following objects is closest to Mirror in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "SoapBottle", "semantic_id": "SoapBottle|-01.06|+00.95|+05.03", "distance": 0.4875652986786178, "com": {"x": -1.0608563423156738, "y": 1.101635456085205, "z": 5.029000282287598}}, {"text": "HandTowel", "semantic_id": "HandTowel|-00.11|+01.47|+04.81", "distance": 1.051144161683624, "com": {"x": -0.1150742918252945, "y": 1.2717453241348267, "z": 4.810999870300293}}, {"text": "CounterTop", "semantic_id": "CounterTop|-01.02|+00.95|+04.88", "distance": 0.6880442761473844, "com": {"x": -1.028404951095581, "y": 0.9401383399963379, "z": 4.87725830078125}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/16/rgb_0.png", "image_2": "FloorPlan402/16/rgb_1.png"} diff --git a/train/FloorPlan402/16/rgb_0.png b/train/FloorPlan402/16/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..40fa625e24577110169a4b48a9492421cd8f4ba6 --- /dev/null +++ b/train/FloorPlan402/16/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0f361f88b4f20d14945af78866fd1b20f88f458df0b7fe49463be789b8d12a6 +size 750948 diff --git a/train/FloorPlan402/16/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png b/train/FloorPlan402/16/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..77fd3361a6b9c8cf8e180961d0251bee52ee363a --- /dev/null +++ b/train/FloorPlan402/16/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d63a8e44b6b53eab828f448dd77875dba3443f02a50c718f4cb2e0539f97582 +size 657949 diff --git a/train/FloorPlan402/16/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png b/train/FloorPlan402/16/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..0d9a613fd82f14e3a2c54d7a79df44086acc9a05 --- /dev/null +++ b/train/FloorPlan402/16/rgb_0_mask_Cabinet|-01.03|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6441d45a448bfe44fca0192d2044b432add311669294ee71589eb35eeb82e901 +size 657485 diff --git a/train/FloorPlan402/16/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png b/train/FloorPlan402/16/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..f0b6076011f122051f870bee9106c055a19daefe --- /dev/null +++ b/train/FloorPlan402/16/rgb_0_mask_Cabinet|-01.06|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8978167fec98a1c48caeb0fcf545f4cd4fa425905683b6279d3467dd485b0750 +size 658827 diff --git a/train/FloorPlan402/16/rgb_0_mask_Faucet|-00.58|+01.05|+05.10.png b/train/FloorPlan402/16/rgb_0_mask_Faucet|-00.58|+01.05|+05.10.png new file mode 100644 index 0000000000000000000000000000000000000000..680c873b385d2c5a92f8995fa6275d790b4fefd7 --- /dev/null +++ b/train/FloorPlan402/16/rgb_0_mask_Faucet|-00.58|+01.05|+05.10.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a1067eff3bf35c0e1449871d8517cb776e366817eedbd7780b3391f9ae5706c +size 655519 diff --git a/train/FloorPlan402/16/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png b/train/FloorPlan402/16/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png new file mode 100644 index 0000000000000000000000000000000000000000..0997ce00f5dd9bb4af5cf7610d711e4aeaa1389b --- /dev/null +++ b/train/FloorPlan402/16/rgb_0_mask_Mirror|-00.98|+01.58|+05.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0278c2575ee92ef55de73dac866baa4f0514ebba6f2556cd5f7bd87e8ac9871 +size 619953 diff --git a/train/FloorPlan402/16/rgb_0_mask_SoapBottle|-01.06|+00.95|+05.03.png b/train/FloorPlan402/16/rgb_0_mask_SoapBottle|-01.06|+00.95|+05.03.png new file mode 100644 index 0000000000000000000000000000000000000000..3ae6ac63b98bb5b3728340ac7dde5de1b2193b51 --- /dev/null +++ b/train/FloorPlan402/16/rgb_0_mask_SoapBottle|-01.06|+00.95|+05.03.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e2b008a69b22e739cb1bc0ba9a8121b711227643d9e90cd6263c162f42d6c7e +size 658191 diff --git a/train/FloorPlan402/16/rgb_1.png b/train/FloorPlan402/16/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f07ab8731d75128fb6fedd92ee622f4d7d641d7b --- /dev/null +++ b/train/FloorPlan402/16/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41a0f2d682e754b5170e6d426df8ec7d85846c53f344efaa0d172f8aabe9040e +size 792072 diff --git a/train/FloorPlan402/16/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png b/train/FloorPlan402/16/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..5279d870c6179657cbf234118012e46489ca3a22 --- /dev/null +++ b/train/FloorPlan402/16/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ee362e17f497e01015d40f645d34e4e5a6d9cf785f629e0b3f53fbb895e5563 +size 693434 diff --git a/train/FloorPlan402/16/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png b/train/FloorPlan402/16/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..a0d5ec79a1cedce18b203384b8de21ef2dbc1a1f --- /dev/null +++ b/train/FloorPlan402/16/rgb_1_mask_Cabinet|-01.03|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bc6f9950fd12b39bd42dbabf004beeb6cb061a1ab5681296a14e40ce22f3a71 +size 687536 diff --git a/train/FloorPlan402/16/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png b/train/FloorPlan402/16/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..11592f2637bf03d75696abb5944d014a6df4b30d --- /dev/null +++ b/train/FloorPlan402/16/rgb_1_mask_Cabinet|-01.06|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83c40dfbd39905a7524f24005465991be2e2462fcb93f982ad214ce4e6414848 +size 691242 diff --git a/train/FloorPlan402/16/rgb_1_mask_Mirror|-00.98|+01.58|+05.15.png b/train/FloorPlan402/16/rgb_1_mask_Mirror|-00.98|+01.58|+05.15.png new file mode 100644 index 0000000000000000000000000000000000000000..bdb572d4381191df19f184e2e7e056f92e8fcbc8 --- /dev/null +++ b/train/FloorPlan402/16/rgb_1_mask_Mirror|-00.98|+01.58|+05.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af220cd2bf2bab030de4128edaab764d6011b61e538781db6b2c925721b27e66 +size 680486 diff --git a/train/FloorPlan402/16/rgb_1_mask_Sink|-01.53|+00.93|+04.87.png b/train/FloorPlan402/16/rgb_1_mask_Sink|-01.53|+00.93|+04.87.png new file mode 100644 index 0000000000000000000000000000000000000000..3055cd1e1011c8f8fee1823460c354b4c176ef59 --- /dev/null +++ b/train/FloorPlan402/16/rgb_1_mask_Sink|-01.53|+00.93|+04.87.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95f882fcd458b2bd46c5c63a8966683a43be51682dd0c4d6af4b41d72c923550 +size 696438 diff --git a/train/FloorPlan402/16/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png b/train/FloorPlan402/16/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png new file mode 100644 index 0000000000000000000000000000000000000000..7ceb5c84361d188665f194e07d99e44d20212822 --- /dev/null +++ b/train/FloorPlan402/16/rgb_1_mask_SoapBottle|-01.06|+00.95|+05.03.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb5cc4b195c0ccbe9306993e9c84a7034e4247a2a376e9988297003627a1803e +size 695410 diff --git a/train/FloorPlan402/16/semantic_0.png b/train/FloorPlan402/16/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..74abaec61a33a8e67faf571c9bb337b3e61a910e Binary files /dev/null and b/train/FloorPlan402/16/semantic_0.png differ diff --git a/train/FloorPlan402/16/semantic_1.png b/train/FloorPlan402/16/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b71e1f3e2a2b31900b31598aac6eaa711a6725ab Binary files /dev/null and b/train/FloorPlan402/16/semantic_1.png differ diff --git a/train/FloorPlan402/23/0.json b/train/FloorPlan402/23/0.json new file mode 100644 index 0000000000000000000000000000000000000000..85f1835a0d5d7eb9d5fcec017deb3dfcfe654be3 --- /dev/null +++ b/train/FloorPlan402/23/0.json @@ -0,0 +1,1436 @@ +{ + "object": [ + { + "objectId": "LightSwitch|-02.50|+01.37|+05.15", + "object_info": { + "name": "LightSwitch_2f6f7add", + "position": { + "x": -2.496000051498413, + "y": 1.3669999837875366, + "z": 5.146415710449219 + }, + "rotation": { + "x": -0.0, + "y": 180.00033569335938, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7325804233551025, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-02.50|+01.37|+05.15", + "assetId": "Light_Switch_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4371230602264404, + 1.4276190996170044, + 5.146416187286377 + ], + [ + -2.4371230602264404, + 1.4276190996170044, + 5.11565637588501 + ], + [ + -2.4371230602264404, + 1.3063808679580688, + 5.146416187286377 + ], + [ + -2.4371230602264404, + 1.3063808679580688, + 5.11565637588501 + ], + [ + -2.5548770427703857, + 1.4276190996170044, + 5.146416187286377 + ], + [ + -2.5548770427703857, + 1.4276190996170044, + 5.11565637588501 + ], + [ + -2.5548770427703857, + 1.3063808679580688, + 5.146416187286377 + ], + [ + -2.5548770427703857, + 1.3063808679580688, + 5.11565637588501 + ] + ], + "center": { + "x": -2.496000051498413, + "y": 1.3669999837875366, + "z": 5.131036281585693 + }, + "size": { + "x": 0.11775398254394531, + "y": 0.12123823165893555, + "z": 0.030759811401367188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "object_info": { + "name": "GarbageCan_4bfb5574", + "position": { + "x": -2.346003770828247, + "y": 0.0030006468296051025, + "z": 4.878763675689697 + }, + "rotation": { + "x": 0.9101229310035706, + "y": 180.002685546875, + "z": -6.295583261817228e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 2.5659396648406982, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.001185894012451, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.001185894012451, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 4.626857757568359 + ], + [ + -2.679744243621826, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.679744243621826, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 4.626857757568359 + ] + ], + "center": { + "x": -2.3404650688171387, + "y": 0.2547769844532013, + "z": 4.862797737121582 + }, + "size": { + "x": 0.678558349609375, + "y": 0.5102071762084961, + "z": 0.4718799591064453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.679751396179199, + -0.0060831159353256226, + 4.63466739654541 + ], + [ + -2.001188278198242, + -0.006083060055971146, + 4.6346354484558105 + ], + [ + -2.0011661052703857, + 0.0014130910858511925, + 5.106532573699951 + ], + [ + -2.6797292232513428, + 0.0014130352064967155, + 5.106564521789551 + ], + [ + -2.6797518730163574, + 0.5030497312545776, + 4.626579761505127 + ], + [ + -2.0011887550354004, + 0.5030497312545776, + 4.626547813415527 + ], + [ + -2.001166582107544, + 0.5105459094047546, + 5.098444938659668 + ], + [ + -2.679729700088501, + 0.5105459094047546, + 5.098476886749268 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.52|+01.05|+05.10", + "object_info": { + "name": "Faucet_b2d11a28", + "position": { + "x": -1.524957299232483, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6435985565185547, + "objectType": "Faucet", + "objectId": "Faucet|-01.52|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2335190773010254, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -1.5258479118347168, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846576690673828, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_0b2fc3ae", + "position": { + "x": -0.5691999793052673, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7834455966949463, + "objectType": "SinkBasin", + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3147736191749573, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -0.5792245864868164, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289019346237183, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_28b928cc", + "position": { + "x": -1.5148999691009521, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4363298416137695, + "objectType": "SinkBasin", + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2604734897613525, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -1.5249245166778564, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289020538330078, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "object_info": { + "name": "HandTowelHolder_691a856c", + "position": { + "x": -2.0940001010894775, + "y": 1.5440000295639038, + "z": 5.145999908447266 + }, + "rotation": { + "x": -0.0, + "y": 179.99984741210938, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7247064113616943, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0104947090148926, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.097372531890869 + ] + ], + "center": { + "x": -2.095900058746338, + "y": 1.4834413528442383, + "z": 5.1216864585876465 + }, + "size": { + "x": 0.17081069946289062, + "y": 0.21029233932495117, + "z": 0.04862785339355469 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -0.8999999761581421, + "y": 0.9006701707839966, + "z": 4.099999904632568 + }, + "agent_rotation": { + "x": -0.0, + "y": 349.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.8999999761581421, + "y": 1.5756702423095703, + "z": 4.099999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|-02.35|+00.00|+04.88", + "HandTowelHolder|-02.09|+01.54|+05.15", + "LightSwitch|-02.50|+01.37|+05.15", + "CounterTop|-01.02|+00.95|+04.88" + ], + "different_object": [ + "Mirror|-00.98|+01.58|+05.15", + "Sink|-01.53|+00.93|+04.87|SinkBasin", + "Sink|-00.58|+00.93|+04.87|SinkBasin", + "Faucet|-00.58|+01.05|+05.10", + "Faucet|-01.52|+01.05|+05.10", + "Sink|-01.53|+00.93|+04.87", + "SoapBottle|-01.06|+00.95|+05.03", + "Sink|-00.58|+00.93|+04.87" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/23/0_depth_npy.npy b/train/FloorPlan402/23/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..595b9c6bb9749eda165a446c2c41b3aca4944621 --- /dev/null +++ b/train/FloorPlan402/23/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12b1b3696d31fc9ef1139462d22a6208364b1c24f00a332d723da3c3d4c13853 +size 3145856 diff --git a/train/FloorPlan402/23/0_semantic_sensor_npy.npy b/train/FloorPlan402/23/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..51511d3a716c1a02843a0021e3a546088217fe86 --- /dev/null +++ b/train/FloorPlan402/23/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:715b0e3b5c62af987322333ba13ea5ce7ad346314e23f89369fd29076d2a9379 +size 2359424 diff --git a/train/FloorPlan402/23/1_depth_npy.npy b/train/FloorPlan402/23/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4d52b63ff5abb5f323b63e3d8f9bdc3da0a366a3 --- /dev/null +++ b/train/FloorPlan402/23/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:600b4b9bca7a97af427066804a3d4ce56658b63e537b8a2e6844e3bdb0075bf4 +size 3145856 diff --git a/train/FloorPlan402/23/1_semantic_sensor_npy.npy b/train/FloorPlan402/23/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..528a82bf386abd38f62e917d7f7293c28f138076 --- /dev/null +++ b/train/FloorPlan402/23/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d96041f7589daa8eb7ef265ceee3dadf227c1b6203d806670979cd43e0d550b +size 2359424 diff --git a/train/FloorPlan402/23/depth_1.png b/train/FloorPlan402/23/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ecd34d664a63887c082b4620dc94f91a2b0a74a2 Binary files /dev/null and b/train/FloorPlan402/23/depth_1.png differ diff --git a/train/FloorPlan402/23/rgb_1.png b/train/FloorPlan402/23/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3ada22f7f55a37fde3afce66755c32bbecfc102f --- /dev/null +++ b/train/FloorPlan402/23/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6489f702197a25aaffa2f7091a70108d7fbf4b7e89550eaa3928071f2fae0a39 +size 853876 diff --git a/train/FloorPlan402/23/rgb_1_mask_HandTowelHolder|-02.09|+01.54|+05.15.png b/train/FloorPlan402/23/rgb_1_mask_HandTowelHolder|-02.09|+01.54|+05.15.png new file mode 100644 index 0000000000000000000000000000000000000000..48d1ad8e9260149be15987f97fd0de43928aa6ba --- /dev/null +++ b/train/FloorPlan402/23/rgb_1_mask_HandTowelHolder|-02.09|+01.54|+05.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67d1340564aebd74fe81dc95a70077a34055c6c0d52e8a82377f804c32d649b6 +size 732397 diff --git a/train/FloorPlan402/23/semantic_1.png b/train/FloorPlan402/23/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9663c1295f47ba881b9278b937627e80d7ccaac7 Binary files /dev/null and b/train/FloorPlan402/23/semantic_1.png differ diff --git a/train/FloorPlan402/26/0.json b/train/FloorPlan402/26/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2dbbd70002e021108579e1f66b9eb0e8ed4c1c41 --- /dev/null +++ b/train/FloorPlan402/26/0.json @@ -0,0 +1,1052 @@ +{ + "object": [ + { + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "object_info": { + "name": "ShowerDoor_4666f48d", + "position": { + "x": -0.28208041191101074, + "y": 1.2287894487380981, + "z": 1.73020601272583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9108879566192627, + "objectType": "ShowerDoor", + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7050056457519531 + ] + ], + "center": { + "x": -0.7874165773391724, + "y": 1.162919282913208, + "z": 1.7307407855987549 + }, + "size": { + "x": 0.9921667575836182, + "y": 2.014890193939209, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "object_info": { + "name": "TowelHolder_82b9bdf0", + "position": { + "x": -1.7200000286102295, + "y": 1.2139999866485596, + "z": 1.7400000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.00016904715448617935, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 0.8684328198432922, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3909187316894531, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.740128993988037 + ] + ], + "center": { + "x": -1.7201937437057495, + "y": 1.214041829109192, + "z": 1.79618501663208 + }, + "size": { + "x": 0.6585500240325928, + "y": 0.04162406921386719, + "z": 0.11211204528808594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "object_info": { + "name": "ShowerGlass_73a7c1c8", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.3258392810821533, + "objectType": "ShowerGlass", + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2808876037597656, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.7047996520996094 + ] + ], + "center": { + "x": -2.5499496459960938, + "y": 1.1622567176818848, + "z": 1.7305347919464111 + }, + "size": { + "x": 2.5381240844726562, + "y": 2.0134267807006836, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.9006701707839966, + "z": 2.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 121.99999237060547, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.5, + "y": 1.5756702423095703, + "z": 2.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Toilet|-00.52|00.00|+03.22", + "Towel|-00.18|+01.42|+02.43", + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18", + "TowelHolder|-00.07|+01.41|+02.43" + ], + "different_object": [ + "ShowerGlass|+00.00|+00.00|+00.00", + "ShowerDoor|-00.28|+01.23|+01.73", + "TowelHolder|-01.72|+01.21|+01.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/26/0_depth_npy.npy b/train/FloorPlan402/26/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..812e762eb1d970344525c9ae3f23d56fc11e5d64 --- /dev/null +++ b/train/FloorPlan402/26/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f4b926ef9a897339b89eb0f973038eb343be9638fbc3996bf1d2dae03563127 +size 3145856 diff --git a/train/FloorPlan402/26/0_semantic_sensor_npy.npy b/train/FloorPlan402/26/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6500136ae6c9f54375516c03d922d8831399def9 --- /dev/null +++ b/train/FloorPlan402/26/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e6566f293b6924c71a76aec206bb62f6aa26a821db0cac6fd95b3fbd11a2e47 +size 2359424 diff --git a/train/FloorPlan402/26/1.json b/train/FloorPlan402/26/1.json new file mode 100644 index 0000000000000000000000000000000000000000..72af264b718ba49eef6f5b96b54675f7456b4a63 --- /dev/null +++ b/train/FloorPlan402/26/1.json @@ -0,0 +1,2891 @@ +{ + "object": [ + { + "objectId": "LightSwitch|-02.50|+01.37|+05.15", + "object_info": { + "name": "LightSwitch_2f6f7add", + "position": { + "x": -2.496000051498413, + "y": 1.3669999837875366, + "z": 5.146415710449219 + }, + "rotation": { + "x": -0.0, + "y": 180.00033569335938, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7325804233551025, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-02.50|+01.37|+05.15", + "assetId": "Light_Switch_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4371230602264404, + 1.4276190996170044, + 5.146416187286377 + ], + [ + -2.4371230602264404, + 1.4276190996170044, + 5.11565637588501 + ], + [ + -2.4371230602264404, + 1.3063808679580688, + 5.146416187286377 + ], + [ + -2.4371230602264404, + 1.3063808679580688, + 5.11565637588501 + ], + [ + -2.5548770427703857, + 1.4276190996170044, + 5.146416187286377 + ], + [ + -2.5548770427703857, + 1.4276190996170044, + 5.11565637588501 + ], + [ + -2.5548770427703857, + 1.3063808679580688, + 5.146416187286377 + ], + [ + -2.5548770427703857, + 1.3063808679580688, + 5.11565637588501 + ] + ], + "center": { + "x": -2.496000051498413, + "y": 1.3669999837875366, + "z": 5.131036281585693 + }, + "size": { + "x": 0.11775398254394531, + "y": 0.12123823165893555, + "z": 0.030759811401367188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "object_info": { + "name": "Cabinet_bd9c7c59", + "position": { + "x": -1.0596699714660645, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.3931381702423096, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0596699714660645, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -1.2823636531829834, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.4453873634338379, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "object_info": { + "name": "ToiletPaperHanger_f7f4dd68", + "position": { + "x": -0.07400000095367432, + "y": 1.1260000467300415, + "z": 3.686000108718872 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2730696201324463, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "assetId": "Toilet_Paper_Hanger_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399998605251312, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.641615152359009 + ] + ], + "center": { + "x": -0.11924838274717331, + "y": 1.1260000467300415, + "z": 3.748469114303589 + }, + "size": { + "x": 0.09049679338932037, + "y": 0.05908823013305664, + "z": 0.21370792388916016 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "object_info": { + "name": "GarbageCan_4bfb5574", + "position": { + "x": -2.346003770828247, + "y": 0.0030006468296051025, + "z": 4.878763675689697 + }, + "rotation": { + "x": 0.9101229310035706, + "y": 180.002685546875, + "z": -6.295583261817228e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 2.5659396648406982, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.001185894012451, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.001185894012451, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 4.626857757568359 + ], + [ + -2.679744243621826, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.679744243621826, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 4.626857757568359 + ] + ], + "center": { + "x": -2.3404650688171387, + "y": 0.2547769844532013, + "z": 4.862797737121582 + }, + "size": { + "x": 0.678558349609375, + "y": 0.5102071762084961, + "z": 0.4718799591064453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.679751396179199, + -0.0060831159353256226, + 4.63466739654541 + ], + [ + -2.001188278198242, + -0.006083060055971146, + 4.6346354484558105 + ], + [ + -2.0011661052703857, + 0.0014130910858511925, + 5.106532573699951 + ], + [ + -2.6797292232513428, + 0.0014130352064967155, + 5.106564521789551 + ], + [ + -2.6797518730163574, + 0.5030497312545776, + 4.626579761505127 + ], + [ + -2.0011887550354004, + 0.5030497312545776, + 4.626547813415527 + ], + [ + -2.001166582107544, + 0.5105459094047546, + 5.098444938659668 + ], + [ + -2.679729700088501, + 0.5105459094047546, + 5.098476886749268 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.52|+01.05|+05.10", + "object_info": { + "name": "Faucet_b2d11a28", + "position": { + "x": -1.524957299232483, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6435985565185547, + "objectType": "Faucet", + "objectId": "Faucet|-01.52|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2335190773010254, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -1.5258479118347168, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846576690673828, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "object_info": { + "name": "ScrubBrush_2f874c37", + "position": { + "x": -0.23153172433376312, + "y": -0.0003285333514213562, + "z": 3.8574726581573486 + }, + "rotation": { + "x": 8.19530469016172e-05, + "y": 0.0002286293456563726, + "z": 0.00018199534679297358 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1899999976158142, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.404581069946289, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.16538116335868835, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.790544033050537 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.790544033050537 + ] + ], + "center": { + "x": -0.23153193295001984, + "y": 0.23786580562591553, + "z": 3.8574726581573486 + }, + "size": { + "x": 0.13230153918266296, + "y": 0.4763892889022827, + "z": 0.13385725021362305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + -0.00032841425854712725, + 3.924400568008423 + ], + [ + -0.2976817488670349, + -0.0003288348962087184, + 3.924401044845581 + ], + [ + -0.2976822853088379, + -0.0003286375431343913, + 3.7905447483062744 + ], + [ + -0.16538169980049133, + -0.00032821690547280014, + 3.790544271469116 + ], + [ + -0.16538268327713013, + 0.47606056928634644, + 3.92440128326416 + ], + [ + -0.2976832687854767, + 0.476060152053833, + 3.9244017601013184 + ], + [ + -0.29768380522727966, + 0.47606033086776733, + 3.7905454635620117 + ], + [ + -0.1653832197189331, + 0.47606074810028076, + 3.7905449867248535 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "object_info": { + "name": "Cabinet_6809ef74", + "position": { + "x": -1.96287202835083, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-01.74|+00.03|+04.87" + ], + "distance": 2.2009689807891846, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.515770435333252, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -1.7397873401641846, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.44803380966186523, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "object_info": { + "name": "Cabinet_e90dc44e", + "position": { + "x": -1.0278019905090332, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|-00.80|+00.03|+04.93" + ], + "distance": 2.4058377742767334, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.5807002782821655, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -0.8047172427177429, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.4480339288711548, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "object_info": { + "name": "HandTowelHolder_691a856c", + "position": { + "x": -2.0940001010894775, + "y": 1.5440000295639038, + "z": 5.145999908447266 + }, + "rotation": { + "x": -0.0, + "y": 179.99984741210938, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7247064113616943, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0104947090148926, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.097372531890869 + ] + ], + "center": { + "x": -2.095900058746338, + "y": 1.4834413528442383, + "z": 5.1216864585876465 + }, + "size": { + "x": 0.17081069946289062, + "y": 0.21029233932495117, + "z": 0.04862785339355469 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.2000000476837158, + "y": 0.9006701707839966, + "z": 2.0999999046325684 + }, + "agent_rotation": { + "x": -0.0, + "y": 20.000001907348633, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.2000000476837158, + "y": 1.5756702423095703, + "z": 2.0999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Toilet|-00.52|00.00|+03.22", + "Towel|-00.18|+01.42|+02.43", + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18", + "TowelHolder|-00.07|+01.41|+02.43" + ], + "different_object": [ + "Cabinet|-00.12|+00.36|+04.63", + "Sink|-00.58|+00.93|+04.87", + "Cabinet|-01.06|+00.36|+04.63", + "LightSwitch|-02.50|+01.37|+05.15", + "CounterTop|-01.02|+00.95|+04.88", + "ToiletPaperHanger|-00.07|+01.13|+03.69", + "ScrubBrush|-00.23|00.00|+03.86", + "Mirror|-00.98|+01.58|+05.15", + "Cabinet|-01.96|+00.36|+04.63", + "Cabinet|-01.03|+00.36|+04.63", + "GarbageCan|-02.35|+00.00|+04.88", + "Faucet|-00.58|+01.05|+05.10", + "Faucet|-01.52|+01.05|+05.10", + "HandTowelHolder|-02.09|+01.54|+05.15", + "Sink|-01.53|+00.93|+04.87", + "HandTowel|-00.11|+01.47|+04.81", + "SoapBottle|-01.06|+00.95|+05.03", + "HandTowelHolder|-00.07|+01.57|+04.81" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/26/1_depth_npy.npy b/train/FloorPlan402/26/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7b228a01e276ccbf73106fb2ea6d171f2a56f6b5 --- /dev/null +++ b/train/FloorPlan402/26/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be1366f731124938cd6cfb7468577cc1f32bd07d6c6818eb53a5cf90ea56c132 +size 3145856 diff --git a/train/FloorPlan402/26/1_semantic_sensor_npy.npy b/train/FloorPlan402/26/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..866e394ea4ccc10fb493f33679e418385dcd452b --- /dev/null +++ b/train/FloorPlan402/26/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2ac543e8e6d90f0cd67ae8f47c298a4216e05e551ee2bf813d5e6254acb634c +size 2359424 diff --git a/train/FloorPlan402/26/depth_0.png b/train/FloorPlan402/26/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..07d10e04a809e7d384b72021ad67bcb97529d2df Binary files /dev/null and b/train/FloorPlan402/26/depth_0.png differ diff --git a/train/FloorPlan402/26/depth_1.png b/train/FloorPlan402/26/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..61979831447e0ab6b4a22cc2a826a42471829b40 Binary files /dev/null and b/train/FloorPlan402/26/depth_1.png differ diff --git a/train/FloorPlan402/26/mask_questions.jsonl b/train/FloorPlan402/26/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6142f4a554026ff4aca45ed5993aa0090a82c1d --- /dev/null +++ b/train/FloorPlan402/26/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 15087, "folder_dir": "FloorPlan402/26", "pair_name": "0-1:Towel|-00.18|+01.42|+02.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toilet\nB. ShowerGlass\nC. TowelHolder\nD. Towel", "answer": "D", "object_name": "Towel", "image_1": "FloorPlan402/26/rgb_0.png", "image_2": "FloorPlan402/26/rgb_1.png", "mask_image": "FloorPlan402/26/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png", "options": ["Toilet", "ShowerGlass", "TowelHolder", "Towel"]} +{"id": 15088, "folder_dir": "FloorPlan402/26", "pair_name": "1-0:Towel|-00.18|+01.42|+02.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toilet\nB. Cabinet\nC. Cabinet\nD. Towel", "answer": "D", "object_name": "Towel", "image_1": "FloorPlan402/26/rgb_1.png", "image_2": "FloorPlan402/26/rgb_0.png", "mask_image": "FloorPlan402/26/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png", "options": ["Toilet", "Cabinet", "Cabinet", "Towel"]} diff --git a/train/FloorPlan402/26/questions_distance.jsonl b/train/FloorPlan402/26/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe10f3325a96c292a884e6da14a6c09e9d3a78b5 --- /dev/null +++ b/train/FloorPlan402/26/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4480, "folder_dir": "FloorPlan402/26", "query": "Which of the following objects is closest to Toilet in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ScrubBrush\nB. ToiletPaperHanger\nC. Towel\nD. Other\n", "answer": "A", "src_object": "Toilet", "target_object": "ScrubBrush", "question": "Which of the following objects is closest to Toilet in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ScrubBrush", "semantic_id": "ScrubBrush|-00.23|00.00|+03.86", "distance": 0.7574129114920541, "com": {"x": -0.23153193295001984, "y": 0.23786580562591553, "z": 3.8574726581573486}}, {"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-00.07|+01.13|+03.69", "distance": 0.9053642603917155, "com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}}, {"text": "Towel", "semantic_id": "Towel|-00.18|+01.42|+02.43", "distance": 1.0780960446928103, "com": {"x": -0.1839269995689392, "y": 1.1357643604278564, "z": 2.4084887504577637}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/26/rgb_0.png", "image_2": "FloorPlan402/26/rgb_1.png"} +{"id": 4481, "folder_dir": "FloorPlan402/26", "query": "Which of the following objects is closest to Towel in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaperHanger\nB. Toilet\nC. ShowerDoor\nD. Other\n", "answer": "C", "src_object": "Towel", "target_object": "ShowerDoor", "question": "Which of the following objects is closest to Towel in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-00.07|+01.13|+03.69", "distance": 1.341575954162997, "com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}}, {"text": "Toilet", "semantic_id": "Toilet|-00.52|00.00|+03.22", "distance": 1.0780960446928103, "com": {"x": -0.5309745669364929, "y": 0.5168592929840088, "z": 3.2201571464538574}}, {"text": "ShowerDoor", "semantic_id": "ShowerDoor|-00.28|+01.23|+01.73", "distance": 0.9078983225907007, "com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/26/rgb_0.png", "image_2": "FloorPlan402/26/rgb_1.png"} diff --git a/train/FloorPlan402/26/rgb_0.png b/train/FloorPlan402/26/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dbef5cd76ffb4fe94523961d1d548c523cb00381 --- /dev/null +++ b/train/FloorPlan402/26/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4817724aa023d7b19321dd0eaba30d2a14190cf423064aa28a78ac82f0698472 +size 905817 diff --git a/train/FloorPlan402/26/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png b/train/FloorPlan402/26/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png new file mode 100644 index 0000000000000000000000000000000000000000..20100406aafd2f396e3c3ec33815d4db4fd4a7ad --- /dev/null +++ b/train/FloorPlan402/26/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc8b2355399b80eff03f03229fea29920462ef9f16a49c11010100a71bff9d42 +size 773896 diff --git a/train/FloorPlan402/26/rgb_1.png b/train/FloorPlan402/26/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a551a0766fb2b2267dafbc64d25cd0dafb4c8105 --- /dev/null +++ b/train/FloorPlan402/26/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35ba13523d407232cd835a28338685a2848598b5fb40362b029464dbd5a81afd +size 880860 diff --git a/train/FloorPlan402/26/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png b/train/FloorPlan402/26/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png new file mode 100644 index 0000000000000000000000000000000000000000..e791fcc6faaf9d41e1a2996d74331f1c96a84d1c --- /dev/null +++ b/train/FloorPlan402/26/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a027ba412226e1db5da21db13325a36908e6e42816ceb8e94bce64ffb73974fc +size 700651 diff --git a/train/FloorPlan402/26/semantic_0.png b/train/FloorPlan402/26/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a0f5e4fb57f979cd2e5924175b73196a86f73deb Binary files /dev/null and b/train/FloorPlan402/26/semantic_0.png differ diff --git a/train/FloorPlan402/26/semantic_1.png b/train/FloorPlan402/26/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..06722981ef71f17f6489d097c90326671940b789 Binary files /dev/null and b/train/FloorPlan402/26/semantic_1.png differ diff --git a/train/FloorPlan402/32/0.json b/train/FloorPlan402/32/0.json new file mode 100644 index 0000000000000000000000000000000000000000..ad68605ce2fd5417caed668f4b6cddfe8693d7da --- /dev/null +++ b/train/FloorPlan402/32/0.json @@ -0,0 +1,958 @@ +{ + "object": [ + { + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "object_info": { + "name": "ShowerDoor_4666f48d", + "position": { + "x": -0.28208041191101074, + "y": 1.2287894487380981, + "z": 1.73020601272583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9108879566192627, + "objectType": "ShowerDoor", + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7050056457519531 + ] + ], + "center": { + "x": -0.7874165773391724, + "y": 1.162919282913208, + "z": 1.7307407855987549 + }, + "size": { + "x": 0.9921667575836182, + "y": 2.014890193939209, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "object_info": { + "name": "TowelHolder_82b9bdf0", + "position": { + "x": -1.7200000286102295, + "y": 1.2139999866485596, + "z": 1.7400000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.00016904715448617935, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 0.8684328198432922, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3909187316894531, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.740128993988037 + ] + ], + "center": { + "x": -1.7201937437057495, + "y": 1.214041829109192, + "z": 1.79618501663208 + }, + "size": { + "x": 0.6585500240325928, + "y": 0.04162406921386719, + "z": 0.11211204528808594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "object_info": { + "name": "ShowerGlass_73a7c1c8", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.3258392810821533, + "objectType": "ShowerGlass", + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2808876037597656, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.7047996520996094 + ] + ], + "center": { + "x": -2.5499496459960938, + "y": 1.1622567176818848, + "z": 1.7305347919464111 + }, + "size": { + "x": 2.5381240844726562, + "y": 2.0134267807006836, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|-02.90|+00.67|+02.86|BathtubBasin", + "object_info": { + "name": "BathtubBasin_c5b83aec", + "position": { + "x": -3.4049999713897705, + "y": 0.16600000858306885, + "z": 2.9040000438690186 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.6361483335494995, + "objectType": "BathtubBasin", + "objectId": "Bathtub|-02.90|+00.67|+02.86|BathtubBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6020002365112305, + 0.652999997138977, + 3.991000175476074 + ], + [ + -2.6020002365112305, + 0.652999997138977, + 1.808000087738037 + ], + [ + -2.6020002365112305, + 0.1420000195503235, + 3.991000175476074 + ], + [ + -2.6020002365112305, + 0.1420000195503235, + 1.808000087738037 + ], + [ + -4.105999946594238, + 0.652999997138977, + 3.991000175476074 + ], + [ + -4.105999946594238, + 0.652999997138977, + 1.808000087738037 + ], + [ + -4.105999946594238, + 0.1420000195503235, + 3.991000175476074 + ], + [ + -4.105999946594238, + 0.1420000195503235, + 1.808000087738037 + ] + ], + "center": { + "x": -3.3540000915527344, + "y": 0.39750000834465027, + "z": 2.8995001316070557 + }, + "size": { + "x": 1.5039997100830078, + "y": 0.5109999775886536, + "z": 2.183000087738037 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "object_info": { + "name": "ShowerHead_2c6df809", + "position": { + "x": -0.09399999678134918, + "y": 1.0169999599456787, + "z": 0.8899999856948853 + }, + "rotation": { + "x": -0.0, + "y": 269.9997863769531, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.497692584991455, + "objectType": "ShowerHead", + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "assetId": "Shower_Head_1", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.08045965433120728, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 0.7655603885650635 + ] + ], + "center": { + "x": -0.20324942469596863, + "y": 1.6674669981002808, + "z": 0.9319844245910645 + }, + "size": { + "x": 0.2455795407295227, + "y": 1.810887098312378, + "z": 0.33284807205200195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|-02.90|+00.67|+02.86", + "object_info": { + "name": "Bathtub_b837a28d", + "position": { + "x": -2.8964381217956543, + "y": 0.6673177480697632, + "z": 2.8605003356933594 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-03.13|+00.68|+03.92", + "Faucet|-03.48|+00.71|+03.92" + ], + "distance": 0.9939895272254944, + "objectType": "Bathtub", + "objectId": "Bathtub|-02.90|+00.67|+02.86", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5470943450927734, + 0.679813027381897, + 4.03078556060791 + ], + [ + -2.5470943450927734, + 0.679813027381897, + 1.6920289993286133 + ], + [ + -2.5470943450927734, + 0.008055448532104492, + 4.03078556060791 + ], + [ + -2.5470943450927734, + 0.008055448532104492, + 1.6920289993286133 + ], + [ + -4.197375297546387, + 0.679813027381897, + 4.03078556060791 + ], + [ + -4.197375297546387, + 0.679813027381897, + 1.6920289993286133 + ], + [ + -4.197375297546387, + 0.008055448532104492, + 4.03078556060791 + ], + [ + -4.197375297546387, + 0.008055448532104492, + 1.6920289993286133 + ] + ], + "center": { + "x": -3.37223482131958, + "y": 0.34393423795700073, + "z": 2.8614072799682617 + }, + "size": { + "x": 1.6502809524536133, + "y": 0.6717575788497925, + "z": 2.338756561279297 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.899999976158142, + "y": 0.9006701707839966, + "z": 3.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 175.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.899999976158142, + "y": 1.5756702423095703, + "z": 3.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TowelHolder|-01.72|+01.21|+01.74", + "ShowerGlass|+00.00|+00.00|+00.00", + "Towel|-00.18|+01.42|+02.43", + "ShowerDoor|-00.28|+01.23|+01.73", + "TowelHolder|-00.07|+01.41|+02.43" + ], + "different_object": [ + "Bathtub|-02.90|+00.67|+02.86", + "ShowerHead|-00.09|+01.02|+00.89", + "Bathtub|-02.90|+00.67|+02.86|BathtubBasin" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/32/0_depth_npy.npy b/train/FloorPlan402/32/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f05d47fbb1a491b8b7ece446f7f412ecf7168cc8 --- /dev/null +++ b/train/FloorPlan402/32/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10693a1e5733d82d39e4c9f049c47ac1b1bd97e7fd2854533a080f2886b4b592 +size 3145856 diff --git a/train/FloorPlan402/32/0_semantic_sensor_npy.npy b/train/FloorPlan402/32/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cd61d380b1fe5876a6100b25f9453c8f6af33515 --- /dev/null +++ b/train/FloorPlan402/32/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7e9cf02991e1e67876d5a3068d8658cf83cb3978d59944882db145f28cd0258 +size 2359424 diff --git a/train/FloorPlan402/32/1.json b/train/FloorPlan402/32/1.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4e3c8c5b68e20954d7b1f19a63f4c6ab467202 --- /dev/null +++ b/train/FloorPlan402/32/1.json @@ -0,0 +1,1318 @@ +{ + "object": [ + { + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "object_info": { + "name": "ShowerDoor_4666f48d", + "position": { + "x": -0.28208041191101074, + "y": 1.2287894487380981, + "z": 1.73020601272583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9108879566192627, + "objectType": "ShowerDoor", + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7050056457519531 + ] + ], + "center": { + "x": -0.7874165773391724, + "y": 1.162919282913208, + "z": 1.7307407855987549 + }, + "size": { + "x": 0.9921667575836182, + "y": 2.014890193939209, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "object_info": { + "name": "ToiletPaperHanger_f7f4dd68", + "position": { + "x": -0.07400000095367432, + "y": 1.1260000467300415, + "z": 3.686000108718872 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2730696201324463, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "assetId": "Toilet_Paper_Hanger_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399998605251312, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.641615152359009 + ] + ], + "center": { + "x": -0.11924838274717331, + "y": 1.1260000467300415, + "z": 3.748469114303589 + }, + "size": { + "x": 0.09049679338932037, + "y": 0.05908823013305664, + "z": 0.21370792388916016 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "object_info": { + "name": "TowelHolder_82b9bdf0", + "position": { + "x": -1.7200000286102295, + "y": 1.2139999866485596, + "z": 1.7400000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.00016904715448617935, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 0.8684328198432922, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3909187316894531, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.740128993988037 + ] + ], + "center": { + "x": -1.7201937437057495, + "y": 1.214041829109192, + "z": 1.79618501663208 + }, + "size": { + "x": 0.6585500240325928, + "y": 0.04162406921386719, + "z": 0.11211204528808594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "object_info": { + "name": "ShowerGlass_73a7c1c8", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.3258392810821533, + "objectType": "ShowerGlass", + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2808876037597656, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.7047996520996094 + ] + ], + "center": { + "x": -2.5499496459960938, + "y": 1.1622567176818848, + "z": 1.7305347919464111 + }, + "size": { + "x": 2.5381240844726562, + "y": 2.0134267807006836, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "Plunger|-00.21|00.00|+03.54", + "object_info": { + "name": "Plunger_ed710244", + "position": { + "x": -0.2129979431629181, + "y": -0.0007912442088127136, + "z": 3.5369977951049805 + }, + "rotation": { + "x": -0.001175427925772965, + "y": 0.0010995414340868592, + "z": 0.0007850115653127432 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.25419020652771, + "objectType": "Plunger", + "objectId": "Plunger|-00.21|00.00|+03.54", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13884791731834412, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.462920665740967 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.462920665740967 + ] + ], + "center": { + "x": -0.21299861371517181, + "y": 0.26934096217155457, + "z": 3.536926507949829 + }, + "size": { + "x": 0.1483013927936554, + "y": 0.5393415689468384, + "z": 0.1480116844177246 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1388479471206665, + -0.0003248240100219846, + 3.610929489135742 + ], + [ + -0.2871449589729309, + -0.0003268355503678322, + 3.6109323501586914 + ], + [ + -0.2871478796005249, + -0.0003298464580439031, + 3.462925910949707 + ], + [ + -0.1388508528470993, + -0.0003278349176980555, + 3.462923049926758 + ], + [ + -0.13885526359081268, + 0.5390133857727051, + 3.6109185218811035 + ], + [ + -0.2871522903442383, + 0.5390113592147827, + 3.6109213829040527 + ], + [ + -0.2871551811695099, + 0.539008378982544, + 3.4629149436950684 + ], + [ + -0.13885816931724548, + 0.5390104055404663, + 3.462912082672119 + ] + ] + } + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.0, + "y": 0.9006701707839966, + "z": 2.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 118.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.0, + "y": 1.5756702423095703, + "z": 2.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TowelHolder|-01.72|+01.21|+01.74", + "ShowerGlass|+00.00|+00.00|+00.00", + "Towel|-00.18|+01.42|+02.43", + "ShowerDoor|-00.28|+01.23|+01.73", + "TowelHolder|-00.07|+01.41|+02.43" + ], + "different_object": [ + "ToiletPaperHanger|-00.07|+01.13|+03.69", + "Toilet|-00.52|00.00|+03.22", + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18", + "Plunger|-00.21|00.00|+03.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/32/1_depth_npy.npy b/train/FloorPlan402/32/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3ec91b4af82794e884a344038681576bd190cf4c --- /dev/null +++ b/train/FloorPlan402/32/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce673a3c35a427b2745d20b643fff1c32444dc41baf2b2c3e1470dd2204a427a +size 3145856 diff --git a/train/FloorPlan402/32/1_semantic_sensor_npy.npy b/train/FloorPlan402/32/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0f15be6b840905ac2f9e37a20c5774f7369e155b --- /dev/null +++ b/train/FloorPlan402/32/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dc31db657ef3c299e9f9c70db01cca360757bb3645d59b88406a70d474f149e +size 2359424 diff --git a/train/FloorPlan402/32/depth_0.png b/train/FloorPlan402/32/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..84307c98bf7161ea1eff0da07ed0d11ea337a85c Binary files /dev/null and b/train/FloorPlan402/32/depth_0.png differ diff --git a/train/FloorPlan402/32/depth_1.png b/train/FloorPlan402/32/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9c715dfe15901564e81bd6dc7f3959f0590d9cb6 Binary files /dev/null and b/train/FloorPlan402/32/depth_1.png differ diff --git a/train/FloorPlan402/32/mask_questions.jsonl b/train/FloorPlan402/32/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6109f20ccb2e109eca7fb0f852c034727608d2df --- /dev/null +++ b/train/FloorPlan402/32/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 15083, "folder_dir": "FloorPlan402/32", "pair_name": "0-1:Towel|-00.18|+01.42|+02.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. BathtubBasin\nB. Bathtub\nC. Towel\nD. TowelHolder", "answer": "C", "object_name": "Towel", "image_1": "FloorPlan402/32/rgb_0.png", "image_2": "FloorPlan402/32/rgb_1.png", "mask_image": "FloorPlan402/32/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png", "options": ["BathtubBasin", "Bathtub", "Towel", "TowelHolder"]} +{"id": 15084, "folder_dir": "FloorPlan402/32", "pair_name": "0-1:ShowerDoor|-00.28|+01.23|+01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. BathtubBasin\nB. TowelHolder\nC. ShowerDoor\nD. ShowerHead", "answer": "C", "object_name": "ShowerDoor", "image_1": "FloorPlan402/32/rgb_0.png", "image_2": "FloorPlan402/32/rgb_1.png", "mask_image": "FloorPlan402/32/rgb_1_mask_ShowerDoor|-00.28|+01.23|+01.73.png", "options": ["BathtubBasin", "TowelHolder", "ShowerDoor", "ShowerHead"]} +{"id": 15085, "folder_dir": "FloorPlan402/32", "pair_name": "1-0:Towel|-00.18|+01.42|+02.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. TowelHolder\nB. Towel\nC. ToiletPaperHanger\nD. Toilet", "answer": "B", "object_name": "Towel", "image_1": "FloorPlan402/32/rgb_1.png", "image_2": "FloorPlan402/32/rgb_0.png", "mask_image": "FloorPlan402/32/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png", "options": ["TowelHolder", "Towel", "ToiletPaperHanger", "Toilet"]} +{"id": 15086, "folder_dir": "FloorPlan402/32", "pair_name": "1-0:ShowerDoor|-00.28|+01.23|+01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaperHanger\nB. ShowerDoor\nC. TowelHolder\nD. ToiletPaper", "answer": "B", "object_name": "ShowerDoor", "image_1": "FloorPlan402/32/rgb_1.png", "image_2": "FloorPlan402/32/rgb_0.png", "mask_image": "FloorPlan402/32/rgb_0_mask_ShowerDoor|-00.28|+01.23|+01.73.png", "options": ["ToiletPaperHanger", "ShowerDoor", "TowelHolder", "ToiletPaper"]} diff --git a/train/FloorPlan402/32/questions_distance.jsonl b/train/FloorPlan402/32/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f48844815f910a67ade5c9a1aa1b99400a78c636 --- /dev/null +++ b/train/FloorPlan402/32/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4477, "folder_dir": "FloorPlan402/32", "query": "Which of the following objects is closest to ShowerGlass in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ShowerHead\nB. Towel\nC. ShowerDoor\nD. Other\n", "answer": "C", "src_object": "ShowerGlass", "target_object": "ShowerDoor", "question": "Which of the following objects is closest to ShowerGlass in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ShowerHead", "semantic_id": "ShowerHead|-00.09|+01.02|+00.89", "distance": 2.5298067209361763, "com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}}, {"text": "Towel", "semantic_id": "Towel|-00.18|+01.42|+02.43", "distance": 2.4613789993132396, "com": {"x": -0.1839269995689392, "y": 1.1357643604278564, "z": 2.4084887504577637}}, {"text": "ShowerDoor", "semantic_id": "ShowerDoor|-00.28|+01.23|+01.73", "distance": 1.7625332052291254, "com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/32/rgb_0.png", "image_2": "FloorPlan402/32/rgb_1.png"} +{"id": 4478, "folder_dir": "FloorPlan402/32", "query": "Which of the following objects is closest to Towel in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ShowerDoor\nB. ToiletPaperHanger\nC. Toilet\nD. Other\n", "answer": "A", "src_object": "Towel", "target_object": "ShowerDoor", "question": "Which of the following objects is closest to Towel in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ShowerDoor", "semantic_id": "ShowerDoor|-00.28|+01.23|+01.73", "distance": 0.9078983225907007, "com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}}, {"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-00.07|+01.13|+03.69", "distance": 1.341575954162997, "com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}}, {"text": "Toilet", "semantic_id": "Toilet|-00.52|00.00|+03.22", "distance": 1.0780960446928103, "com": {"x": -0.5309745669364929, "y": 0.5168592929840088, "z": 3.2201571464538574}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/32/rgb_0.png", "image_2": "FloorPlan402/32/rgb_1.png"} +{"id": 4479, "folder_dir": "FloorPlan402/32", "query": "Which of the following objects is closest to ShowerDoor in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ShowerHead\nB. Towel\nC. Toilet\nD. Other\n", "answer": "B", "src_object": "ShowerDoor", "target_object": "Towel", "question": "Which of the following objects is closest to ShowerDoor in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ShowerHead", "semantic_id": "ShowerHead|-00.09|+01.02|+00.89", "distance": 1.1107796286293747, "com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}}, {"text": "Towel", "semantic_id": "Towel|-00.18|+01.42|+02.43", "distance": 0.9078983225907007, "com": {"x": -0.1839269995689392, "y": 1.1357643604278564, "z": 2.4084887504577637}}, {"text": "Toilet", "semantic_id": "Toilet|-00.52|00.00|+03.22", "distance": 1.6436292499434118, "com": {"x": -0.5309745669364929, "y": 0.5168592929840088, "z": 3.2201571464538574}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/32/rgb_0.png", "image_2": "FloorPlan402/32/rgb_1.png"} diff --git a/train/FloorPlan402/32/rgb_0.png b/train/FloorPlan402/32/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8a34a9cdfd583ef2f7537b73c4e8c4241b4cdcc9 --- /dev/null +++ b/train/FloorPlan402/32/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abac3881499ba19c7f56ca9eed678423c9ddaa3485cba4ee9406f0dadc2c4b2e +size 871240 diff --git a/train/FloorPlan402/32/rgb_0_mask_ShowerDoor|-00.28|+01.23|+01.73.png b/train/FloorPlan402/32/rgb_0_mask_ShowerDoor|-00.28|+01.23|+01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..9f42c8212555b285dad68752588305d2e719c677 --- /dev/null +++ b/train/FloorPlan402/32/rgb_0_mask_ShowerDoor|-00.28|+01.23|+01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:195a15658bd887cbcf5bd304460b57f749205b6fceaf46233436983cc70cb51c +size 713777 diff --git a/train/FloorPlan402/32/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png b/train/FloorPlan402/32/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png new file mode 100644 index 0000000000000000000000000000000000000000..fb47fb7a6c3ce5a37a204b646f4488d36c4b11d8 --- /dev/null +++ b/train/FloorPlan402/32/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6169812794fd06b33c8a483b9a9b2044b8f809113c94455150db2257fe8cd76 +size 749858 diff --git a/train/FloorPlan402/32/rgb_1.png b/train/FloorPlan402/32/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9d6bf524d4bf28b34081f23e7abe4d64a33f6bbf --- /dev/null +++ b/train/FloorPlan402/32/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d68b471fef737c81c6216758b57912bd9a4841031811b1d9b92e0cb62462ca48 +size 886105 diff --git a/train/FloorPlan402/32/rgb_1_mask_ShowerDoor|-00.28|+01.23|+01.73.png b/train/FloorPlan402/32/rgb_1_mask_ShowerDoor|-00.28|+01.23|+01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..a6378ce4291477c0a8727c0a63ab06d98cbe7462 --- /dev/null +++ b/train/FloorPlan402/32/rgb_1_mask_ShowerDoor|-00.28|+01.23|+01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e909dbd12802519cfd1305796e22321abebf7243e0c9d2954b849bd58cff4372 +size 676231 diff --git a/train/FloorPlan402/32/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png b/train/FloorPlan402/32/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png new file mode 100644 index 0000000000000000000000000000000000000000..1b96275da59874a7bf30550d6a4649e1dead12ea --- /dev/null +++ b/train/FloorPlan402/32/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:325ff4965484e77e0b3edbb3de214de6970116fafe3642605d365ea2b5e3aec1 +size 766442 diff --git a/train/FloorPlan402/32/semantic_0.png b/train/FloorPlan402/32/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3f6e7f5a3e8b7e4ffae510c28d86e1c97cebd8c5 Binary files /dev/null and b/train/FloorPlan402/32/semantic_0.png differ diff --git a/train/FloorPlan402/32/semantic_1.png b/train/FloorPlan402/32/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..86a15bffd7692baf3992d4e4ec36ad69a71fa708 Binary files /dev/null and b/train/FloorPlan402/32/semantic_1.png differ diff --git a/train/FloorPlan402/35/0.json b/train/FloorPlan402/35/0.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9c8eead8413c2f3de5142ec461350fd453fbb8 --- /dev/null +++ b/train/FloorPlan402/35/0.json @@ -0,0 +1,3157 @@ +{ + "object": [ + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "object_info": { + "name": "Cabinet_bd9c7c59", + "position": { + "x": -1.0596699714660645, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.3931381702423096, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0596699714660645, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -1.2823636531829834, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.4453873634338379, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "object_info": { + "name": "ToiletPaperHanger_f7f4dd68", + "position": { + "x": -0.07400000095367432, + "y": 1.1260000467300415, + "z": 3.686000108718872 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2730696201324463, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "assetId": "Toilet_Paper_Hanger_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399998605251312, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.641615152359009 + ] + ], + "center": { + "x": -0.11924838274717331, + "y": 1.1260000467300415, + "z": 3.748469114303589 + }, + "size": { + "x": 0.09049679338932037, + "y": 0.05908823013305664, + "z": 0.21370792388916016 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "object_info": { + "name": "GarbageCan_4bfb5574", + "position": { + "x": -2.346003770828247, + "y": 0.0030006468296051025, + "z": 4.878763675689697 + }, + "rotation": { + "x": 0.9101229310035706, + "y": 180.002685546875, + "z": -6.295583261817228e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 2.5659396648406982, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.001185894012451, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.001185894012451, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 4.626857757568359 + ], + [ + -2.679744243621826, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.679744243621826, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 4.626857757568359 + ] + ], + "center": { + "x": -2.3404650688171387, + "y": 0.2547769844532013, + "z": 4.862797737121582 + }, + "size": { + "x": 0.678558349609375, + "y": 0.5102071762084961, + "z": 0.4718799591064453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.679751396179199, + -0.0060831159353256226, + 4.63466739654541 + ], + [ + -2.001188278198242, + -0.006083060055971146, + 4.6346354484558105 + ], + [ + -2.0011661052703857, + 0.0014130910858511925, + 5.106532573699951 + ], + [ + -2.6797292232513428, + 0.0014130352064967155, + 5.106564521789551 + ], + [ + -2.6797518730163574, + 0.5030497312545776, + 4.626579761505127 + ], + [ + -2.0011887550354004, + 0.5030497312545776, + 4.626547813415527 + ], + [ + -2.001166582107544, + 0.5105459094047546, + 5.098444938659668 + ], + [ + -2.679729700088501, + 0.5105459094047546, + 5.098476886749268 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.52|+01.05|+05.10", + "object_info": { + "name": "Faucet_b2d11a28", + "position": { + "x": -1.524957299232483, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6435985565185547, + "objectType": "Faucet", + "objectId": "Faucet|-01.52|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2335190773010254, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -1.5258479118347168, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846576690673828, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "object_info": { + "name": "ScrubBrush_2f874c37", + "position": { + "x": -0.23153172433376312, + "y": -0.0003285333514213562, + "z": 3.8574726581573486 + }, + "rotation": { + "x": 8.19530469016172e-05, + "y": 0.0002286293456563726, + "z": 0.00018199534679297358 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1899999976158142, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.404581069946289, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.16538116335868835, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.790544033050537 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.790544033050537 + ] + ], + "center": { + "x": -0.23153193295001984, + "y": 0.23786580562591553, + "z": 3.8574726581573486 + }, + "size": { + "x": 0.13230153918266296, + "y": 0.4763892889022827, + "z": 0.13385725021362305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + -0.00032841425854712725, + 3.924400568008423 + ], + [ + -0.2976817488670349, + -0.0003288348962087184, + 3.924401044845581 + ], + [ + -0.2976822853088379, + -0.0003286375431343913, + 3.7905447483062744 + ], + [ + -0.16538169980049133, + -0.00032821690547280014, + 3.790544271469116 + ], + [ + -0.16538268327713013, + 0.47606056928634644, + 3.92440128326416 + ], + [ + -0.2976832687854767, + 0.476060152053833, + 3.9244017601013184 + ], + [ + -0.29768380522727966, + 0.47606033086776733, + 3.7905454635620117 + ], + [ + -0.1653832197189331, + 0.47606074810028076, + 3.7905449867248535 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "object_info": { + "name": "Cabinet_6809ef74", + "position": { + "x": -1.96287202835083, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-01.74|+00.03|+04.87" + ], + "distance": 2.2009689807891846, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.515770435333252, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -1.7397873401641846, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.44803380966186523, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "object_info": { + "name": "Cabinet_e90dc44e", + "position": { + "x": -1.0278019905090332, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|-00.80|+00.03|+04.93" + ], + "distance": 2.4058377742767334, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.5807002782821655, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -0.8047172427177429, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.4480339288711548, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.21|00.00|+03.54", + "object_info": { + "name": "Plunger_ed710244", + "position": { + "x": -0.2129979431629181, + "y": -0.0007912442088127136, + "z": 3.5369977951049805 + }, + "rotation": { + "x": -0.001175427925772965, + "y": 0.0010995414340868592, + "z": 0.0007850115653127432 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.25419020652771, + "objectType": "Plunger", + "objectId": "Plunger|-00.21|00.00|+03.54", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13884791731834412, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.462920665740967 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.462920665740967 + ] + ], + "center": { + "x": -0.21299861371517181, + "y": 0.26934096217155457, + "z": 3.536926507949829 + }, + "size": { + "x": 0.1483013927936554, + "y": 0.5393415689468384, + "z": 0.1480116844177246 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1388479471206665, + -0.0003248240100219846, + 3.610929489135742 + ], + [ + -0.2871449589729309, + -0.0003268355503678322, + 3.6109323501586914 + ], + [ + -0.2871478796005249, + -0.0003298464580439031, + 3.462925910949707 + ], + [ + -0.1388508528470993, + -0.0003278349176980555, + 3.462923049926758 + ], + [ + -0.13885526359081268, + 0.5390133857727051, + 3.6109185218811035 + ], + [ + -0.2871522903442383, + 0.5390113592147827, + 3.6109213829040527 + ], + [ + -0.2871551811695099, + 0.539008378982544, + 3.4629149436950684 + ], + [ + -0.13885816931724548, + 0.5390104055404663, + 3.462912082672119 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_0b2fc3ae", + "position": { + "x": -0.5691999793052673, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7834455966949463, + "objectType": "SinkBasin", + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3147736191749573, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -0.5792245864868164, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289019346237183, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_28b928cc", + "position": { + "x": -1.5148999691009521, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4363298416137695, + "objectType": "SinkBasin", + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2604734897613525, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -1.5249245166778564, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289020538330078, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "object_info": { + "name": "HandTowelHolder_691a856c", + "position": { + "x": -2.0940001010894775, + "y": 1.5440000295639038, + "z": 5.145999908447266 + }, + "rotation": { + "x": -0.0, + "y": 179.99984741210938, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7247064113616943, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0104947090148926, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.097372531890869 + ] + ], + "center": { + "x": -2.095900058746338, + "y": 1.4834413528442383, + "z": 5.1216864585876465 + }, + "size": { + "x": 0.17081069946289062, + "y": 0.21029233932495117, + "z": 0.04862785339355469 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.0999999046325684, + "y": 0.9006701707839966, + "z": 2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 55.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.0999999046325684, + "y": 1.5756702423095703, + "z": 2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Toilet|-00.52|00.00|+03.22", + "Towel|-00.18|+01.42|+02.43", + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18", + "TowelHolder|-00.07|+01.41|+02.43" + ], + "different_object": [ + "CounterTop|-01.02|+00.95|+04.88", + "Sink|-01.53|+00.93|+04.87|SinkBasin", + "Faucet|-01.52|+01.05|+05.10", + "Sink|-01.53|+00.93|+04.87", + "SoapBottle|-01.06|+00.95|+05.03", + "Plunger|-00.21|00.00|+03.54", + "ToiletPaperHanger|-00.07|+01.13|+03.69", + "Mirror|-00.98|+01.58|+05.15", + "Cabinet|-01.96|+00.36|+04.63", + "Cabinet|-01.03|+00.36|+04.63", + "Sink|-00.58|+00.93|+04.87|SinkBasin", + "Faucet|-00.58|+01.05|+05.10", + "HandTowel|-00.11|+01.47|+04.81", + "HandTowelHolder|-00.07|+01.57|+04.81", + "ScrubBrush|-00.23|00.00|+03.86", + "Cabinet|-00.12|+00.36|+04.63", + "HandTowelHolder|-02.09|+01.54|+05.15", + "Sink|-00.58|+00.93|+04.87", + "GarbageCan|-02.35|+00.00|+04.88", + "Cabinet|-01.06|+00.36|+04.63" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/35/0_depth_npy.npy b/train/FloorPlan402/35/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..764b6d9220d8f9dcd3741486439e7e49bb5d2487 --- /dev/null +++ b/train/FloorPlan402/35/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:092dc562a609d5544869482fcc614bd63ad0069116239ad1555309c8eda9d673 +size 3145856 diff --git a/train/FloorPlan402/35/0_semantic_sensor_npy.npy b/train/FloorPlan402/35/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f89177ec3c01dce7a13da9006b1fcdde5ed6fd58 --- /dev/null +++ b/train/FloorPlan402/35/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72b95b82ad32d8be065424270b60be71e590d21f9ff26a29d0e3b3f9095cbddc +size 2359424 diff --git a/train/FloorPlan402/35/1.json b/train/FloorPlan402/35/1.json new file mode 100644 index 0000000000000000000000000000000000000000..0a6705a8e03398ae881dd4040152aae43f9e7caf --- /dev/null +++ b/train/FloorPlan402/35/1.json @@ -0,0 +1,1161 @@ +{ + "object": [ + { + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "object_info": { + "name": "ShowerDoor_4666f48d", + "position": { + "x": -0.28208041191101074, + "y": 1.2287894487380981, + "z": 1.73020601272583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9108879566192627, + "objectType": "ShowerDoor", + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7050056457519531 + ] + ], + "center": { + "x": -0.7874165773391724, + "y": 1.162919282913208, + "z": 1.7307407855987549 + }, + "size": { + "x": 0.9921667575836182, + "y": 2.014890193939209, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "object_info": { + "name": "TowelHolder_82b9bdf0", + "position": { + "x": -1.7200000286102295, + "y": 1.2139999866485596, + "z": 1.7400000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.00016904715448617935, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 0.8684328198432922, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-01.72|+01.21|+01.74", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3909187316894531, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -1.3909187316894531, + 1.1932297945022583, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.2348538637161255, + 1.740128993988037 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.852241039276123 + ], + [ + -2.049468755722046, + 1.1932297945022583, + 1.740128993988037 + ] + ], + "center": { + "x": -1.7201937437057495, + "y": 1.214041829109192, + "z": 1.79618501663208 + }, + "size": { + "x": 0.6585500240325928, + "y": 0.04162406921386719, + "z": 0.11211204528808594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "object_info": { + "name": "ShowerGlass_73a7c1c8", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.3258392810821533, + "objectType": "ShowerGlass", + "objectId": "ShowerGlass|+00.00|+00.00|+00.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2808876037597656, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -1.2808876037597656, + 0.15554332733154297, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.756269931793213 + ], + [ + -3.819011688232422, + 2.1689701080322266, + 1.7047996520996094 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.756269931793213 + ], + [ + -3.819011688232422, + 0.15554332733154297, + 1.7047996520996094 + ] + ], + "center": { + "x": -2.5499496459960938, + "y": 1.1622567176818848, + "z": 1.7305347919464111 + }, + "size": { + "x": 2.5381240844726562, + "y": 2.0134267807006836, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "object_info": { + "name": "ShowerHead_2c6df809", + "position": { + "x": -0.09399999678134918, + "y": 1.0169999599456787, + "z": 0.8899999856948853 + }, + "rotation": { + "x": -0.0, + "y": 269.9997863769531, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.497692584991455, + "objectType": "ShowerHead", + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "assetId": "Shower_Head_1", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.08045965433120728, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 0.7655603885650635 + ] + ], + "center": { + "x": -0.20324942469596863, + "y": 1.6674669981002808, + "z": 0.9319844245910645 + }, + "size": { + "x": 0.2455795407295227, + "y": 1.810887098312378, + "z": 0.33284807205200195 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.299999952316284, + "y": 0.9006701707839966, + "z": 3.0999999046325684 + }, + "agent_rotation": { + "x": -0.0, + "y": 132.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.299999952316284, + "y": 1.5756702423095703, + "z": 3.0999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Toilet|-00.52|00.00|+03.22", + "Towel|-00.18|+01.42|+02.43", + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18", + "TowelHolder|-00.07|+01.41|+02.43" + ], + "different_object": [ + "ShowerGlass|+00.00|+00.00|+00.00", + "ShowerHead|-00.09|+01.02|+00.89", + "ShowerDoor|-00.28|+01.23|+01.73", + "TowelHolder|-01.72|+01.21|+01.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/35/1_depth_npy.npy b/train/FloorPlan402/35/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3bacf839d51d237fd51ae5b52c86d6284830e4a1 --- /dev/null +++ b/train/FloorPlan402/35/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88b49cc7cf55ded478b7ea48fb13aabd395311e64c3348dbff788091a312e701 +size 3145856 diff --git a/train/FloorPlan402/35/1_semantic_sensor_npy.npy b/train/FloorPlan402/35/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..87de85296b4efad286e737171525cedb80eb58a9 --- /dev/null +++ b/train/FloorPlan402/35/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a12c1393debb5a20efc2f8df42d018811fc24abc7e97ebf1ddc1e88249b509f +size 2359424 diff --git a/train/FloorPlan402/35/depth_0.png b/train/FloorPlan402/35/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..14e542bb85025b24c1f8690082bc7cee1e2e24bf Binary files /dev/null and b/train/FloorPlan402/35/depth_0.png differ diff --git a/train/FloorPlan402/35/depth_1.png b/train/FloorPlan402/35/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ee8eb322945fdeca287dfef830660ea9a581ccd7 Binary files /dev/null and b/train/FloorPlan402/35/depth_1.png differ diff --git a/train/FloorPlan402/35/mask_questions.jsonl b/train/FloorPlan402/35/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1624a1912e5d93a96c9d620d5f5ac410292f9fe8 --- /dev/null +++ b/train/FloorPlan402/35/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 15051, "folder_dir": "FloorPlan402/35", "pair_name": "0-1:Towel|-00.18|+01.42|+02.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Toilet\nC. Mirror\nD. Towel", "answer": "D", "object_name": "Towel", "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "mask_image": "FloorPlan402/35/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png", "options": ["Cabinet", "Toilet", "Mirror", "Towel"]} +{"id": 15052, "folder_dir": "FloorPlan402/35", "pair_name": "1-0:Towel|-00.18|+01.42|+02.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. TowelHolder\nB. Toilet\nC. ShowerHead\nD. Towel", "answer": "D", "object_name": "Towel", "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "mask_image": "FloorPlan402/35/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png", "options": ["TowelHolder", "Toilet", "ShowerHead", "Towel"]} diff --git a/train/FloorPlan402/35/questions_direction.jsonl b/train/FloorPlan402/35/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26ff5d096f4cdf1f684fa096ddcd93bed1229b61 --- /dev/null +++ b/train/FloorPlan402/35/questions_direction.jsonl @@ -0,0 +1,31 @@ +{"id": 3350, "folder_dir": "FloorPlan402/35", "pair_name": "ToiletPaperHanger-ShowerDoor", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ToiletPaperHanger. Where is the centroid position of ShowerDoor in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "ToiletPaperHanger", "tgt_object": "ShowerDoor", "src_com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}, "tgt_com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3351, "folder_dir": "FloorPlan402/35", "pair_name": "ToiletPaperHanger-ShowerGlass", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ToiletPaperHanger. Where is the centroid position of ShowerGlass in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "ToiletPaperHanger", "tgt_object": "ShowerGlass", "src_com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}, "tgt_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3352, "folder_dir": "FloorPlan402/35", "pair_name": "ToiletPaperHanger-ShowerHead", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ToiletPaperHanger. Where is the centroid position of ShowerHead in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "ToiletPaperHanger", "tgt_object": "ShowerHead", "src_com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}, "tgt_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3353, "folder_dir": "FloorPlan402/35", "pair_name": "GarbageCan-ShowerDoor", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of ShowerDoor in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageCan", "tgt_object": "ShowerDoor", "src_com": {"x": -2.3404650688171387, "y": 0.2547769844532013, "z": 4.862797737121582}, "tgt_com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3354, "folder_dir": "FloorPlan402/35", "pair_name": "GarbageCan-ShowerGlass", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of ShowerGlass in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "GarbageCan", "tgt_object": "ShowerGlass", "src_com": {"x": -2.3404650688171387, "y": 0.2547769844532013, "z": 4.862797737121582}, "tgt_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3355, "folder_dir": "FloorPlan402/35", "pair_name": "GarbageCan-ShowerHead", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of ShowerHead in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageCan", "tgt_object": "ShowerHead", "src_com": {"x": -2.3404650688171387, "y": 0.2547769844532013, "z": 4.862797737121582}, "tgt_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3356, "folder_dir": "FloorPlan402/35", "pair_name": "Mirror-ShowerHead", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Mirror. Where is the centroid position of ShowerHead in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Mirror", "tgt_object": "ShowerHead", "src_com": {"x": -1.0680840015411377, "y": 1.5782454013824463, "z": 5.131521701812744}, "tgt_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3357, "folder_dir": "FloorPlan402/35", "pair_name": "ScrubBrush-ShowerDoor", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ScrubBrush. Where is the centroid position of ShowerDoor in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "ScrubBrush", "tgt_object": "ShowerDoor", "src_com": {"x": -0.23153193295001984, "y": 0.23786580562591553, "z": 3.8574726581573486}, "tgt_com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3358, "folder_dir": "FloorPlan402/35", "pair_name": "ScrubBrush-ShowerGlass", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ScrubBrush. Where is the centroid position of ShowerGlass in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "ScrubBrush", "tgt_object": "ShowerGlass", "src_com": {"x": -0.23153193295001984, "y": 0.23786580562591553, "z": 3.8574726581573486}, "tgt_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3359, "folder_dir": "FloorPlan402/35", "pair_name": "ScrubBrush-ShowerHead", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ScrubBrush. Where is the centroid position of ShowerHead in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "ScrubBrush", "tgt_object": "ShowerHead", "src_com": {"x": -0.23153193295001984, "y": 0.23786580562591553, "z": 3.8574726581573486}, "tgt_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3360, "folder_dir": "FloorPlan402/35", "pair_name": "SoapBottle-ShowerHead", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of ShowerHead in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SoapBottle", "tgt_object": "ShowerHead", "src_com": {"x": -1.0608563423156738, "y": 1.101635456085205, "z": 5.029000282287598}, "tgt_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3361, "folder_dir": "FloorPlan402/35", "pair_name": "Plunger-ShowerDoor", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plunger. Where is the centroid position of ShowerDoor in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Plunger", "tgt_object": "ShowerDoor", "src_com": {"x": -0.21299861371517181, "y": 0.26934096217155457, "z": 3.536926507949829}, "tgt_com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3362, "folder_dir": "FloorPlan402/35", "pair_name": "Plunger-ShowerGlass", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plunger. Where is the centroid position of ShowerGlass in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Plunger", "tgt_object": "ShowerGlass", "src_com": {"x": -0.21299861371517181, "y": 0.26934096217155457, "z": 3.536926507949829}, "tgt_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3363, "folder_dir": "FloorPlan402/35", "pair_name": "Plunger-ShowerHead", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plunger. Where is the centroid position of ShowerHead in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Plunger", "tgt_object": "ShowerHead", "src_com": {"x": -0.21299861371517181, "y": 0.26934096217155457, "z": 3.536926507949829}, "tgt_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3364, "folder_dir": "FloorPlan402/35", "pair_name": "HandTowel-ShowerGlass", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of HandTowel. Where is the centroid position of ShowerGlass in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "HandTowel", "tgt_object": "ShowerGlass", "src_com": {"x": -0.1150742918252945, "y": 1.2717453241348267, "z": 4.810999870300293}, "tgt_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3365, "folder_dir": "FloorPlan402/35", "pair_name": "CounterTop-ShowerHead", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CounterTop. Where is the centroid position of ShowerHead in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "CounterTop", "tgt_object": "ShowerHead", "src_com": {"x": -1.028404951095581, "y": 0.9401383399963379, "z": 4.87725830078125}, "tgt_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "agent_pos": {"x": -2.0999999046325684, "y": 1.5756702423095703, "z": 2.700000047683716}, "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3366, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerDoor-ToiletPaperHanger", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerDoor. Where is the centroid position of ToiletPaperHanger in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "ShowerDoor", "tgt_object": "ToiletPaperHanger", "src_com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}, "tgt_com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3367, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerDoor-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerDoor. Where is the centroid position of GarbageCan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerDoor", "tgt_object": "GarbageCan", "src_com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}, "tgt_com": {"x": -2.3404650688171387, "y": 0.2547769844532013, "z": 4.862797737121582}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3368, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerDoor-ScrubBrush", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerDoor. Where is the centroid position of ScrubBrush in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "ShowerDoor", "tgt_object": "ScrubBrush", "src_com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}, "tgt_com": {"x": -0.23153193295001984, "y": 0.23786580562591553, "z": 3.8574726581573486}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3369, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerDoor-Plunger", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerDoor. Where is the centroid position of Plunger in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "ShowerDoor", "tgt_object": "Plunger", "src_com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}, "tgt_com": {"x": -0.21299861371517181, "y": 0.26934096217155457, "z": 3.536926507949829}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3370, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerGlass-ToiletPaperHanger", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerGlass. Where is the centroid position of ToiletPaperHanger in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerGlass", "tgt_object": "ToiletPaperHanger", "src_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "tgt_com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3371, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerGlass-Mirror", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerGlass. Where is the centroid position of Mirror in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerGlass", "tgt_object": "Mirror", "src_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "tgt_com": {"x": -1.0680840015411377, "y": 1.5782454013824463, "z": 5.131521701812744}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3372, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerGlass-ScrubBrush", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerGlass. Where is the centroid position of ScrubBrush in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerGlass", "tgt_object": "ScrubBrush", "src_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "tgt_com": {"x": -0.23153193295001984, "y": 0.23786580562591553, "z": 3.8574726581573486}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3373, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerGlass-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerGlass. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerGlass", "tgt_object": "SoapBottle", "src_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "tgt_com": {"x": -1.0608563423156738, "y": 1.101635456085205, "z": 5.029000282287598}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3374, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerGlass-Plunger", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerGlass. Where is the centroid position of Plunger in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerGlass", "tgt_object": "Plunger", "src_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "tgt_com": {"x": -0.21299861371517181, "y": 0.26934096217155457, "z": 3.536926507949829}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3375, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerGlass-HandTowel", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerGlass. Where is the centroid position of HandTowel in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerGlass", "tgt_object": "HandTowel", "src_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "tgt_com": {"x": -0.1150742918252945, "y": 1.2717453241348267, "z": 4.810999870300293}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3376, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerGlass-CounterTop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerGlass. Where is the centroid position of CounterTop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerGlass", "tgt_object": "CounterTop", "src_com": {"x": -2.5499496459960938, "y": 1.1622567176818848, "z": 1.7305347919464111}, "tgt_com": {"x": -1.028404951095581, "y": 0.9401383399963379, "z": 4.87725830078125}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3377, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerHead-ToiletPaperHanger", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerHead. Where is the centroid position of ToiletPaperHanger in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "ShowerHead", "tgt_object": "ToiletPaperHanger", "src_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "tgt_com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3378, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerHead-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerHead. Where is the centroid position of GarbageCan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ShowerHead", "tgt_object": "GarbageCan", "src_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "tgt_com": {"x": -2.3404650688171387, "y": 0.2547769844532013, "z": 4.862797737121582}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3379, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerHead-ScrubBrush", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerHead. Where is the centroid position of ScrubBrush in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "ShowerHead", "tgt_object": "ScrubBrush", "src_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "tgt_com": {"x": -0.23153193295001984, "y": 0.23786580562591553, "z": 3.8574726581573486}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 3380, "folder_dir": "FloorPlan402/35", "pair_name": "ShowerHead-Plunger", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ShowerHead. Where is the centroid position of Plunger in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "ShowerHead", "tgt_object": "Plunger", "src_com": {"x": -0.20324942469596863, "y": 1.6674669981002808, "z": 0.9319844245910645}, "tgt_com": {"x": -0.21299861371517181, "y": 0.26934096217155457, "z": 3.536926507949829}, "agent_pos": {"x": -2.299999952316284, "y": 1.5756702423095703, "z": 3.0999999046325684}, "image_1": "FloorPlan402/35/rgb_1.png", "image_2": "FloorPlan402/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/FloorPlan402/35/questions_distance.jsonl b/train/FloorPlan402/35/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fad31833e73316fb30c800d99e7c558a3dcb3a0 --- /dev/null +++ b/train/FloorPlan402/35/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4469, "folder_dir": "FloorPlan402/35", "query": "Which of the following objects is closest to Toilet in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaperHanger\nB. ScrubBrush\nC. Plunger\nD. Other\n", "answer": "C", "src_object": "Toilet", "target_object": "Plunger", "question": "Which of the following objects is closest to Toilet in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-00.07|+01.13|+03.69", "distance": 0.9053642603917155, "com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}}, {"text": "ScrubBrush", "semantic_id": "ScrubBrush|-00.23|00.00|+03.86", "distance": 0.7574129114920541, "com": {"x": -0.23153193295001984, "y": 0.23786580562591553, "z": 3.8574726581573486}}, {"text": "Plunger", "semantic_id": "Plunger|-00.21|00.00|+03.54", "distance": 0.5125591276113975, "com": {"x": -0.21299861371517181, "y": 0.26934096217155457, "z": 3.536926507949829}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png"} +{"id": 4470, "folder_dir": "FloorPlan402/35", "query": "Which of the following objects is closest to Towel in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toilet\nB. ToiletPaperHanger\nC. ShowerDoor\nD. Other\n", "answer": "C", "src_object": "Towel", "target_object": "ShowerDoor", "question": "Which of the following objects is closest to Towel in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Toilet", "semantic_id": "Toilet|-00.52|00.00|+03.22", "distance": 1.0780960446928103, "com": {"x": -0.5309745669364929, "y": 0.5168592929840088, "z": 3.2201571464538574}}, {"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-00.07|+01.13|+03.69", "distance": 1.341575954162997, "com": {"x": -0.11924838274717331, "y": 1.1260000467300415, "z": 3.748469114303589}}, {"text": "ShowerDoor", "semantic_id": "ShowerDoor|-00.28|+01.23|+01.73", "distance": 0.9078983225907007, "com": {"x": -0.7874165773391724, "y": 1.162919282913208, "z": 1.7307407855987549}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/35/rgb_0.png", "image_2": "FloorPlan402/35/rgb_1.png"} diff --git a/train/FloorPlan402/35/rgb_0.png b/train/FloorPlan402/35/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d2b8c009186c107e15648f5b407e9cb3145e2e33 --- /dev/null +++ b/train/FloorPlan402/35/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea30df958afc8efab73d6800da750dd1217cea66eb1546a45c72176d5fb4d34b +size 857449 diff --git a/train/FloorPlan402/35/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png b/train/FloorPlan402/35/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png new file mode 100644 index 0000000000000000000000000000000000000000..aab9d22698212f6c219ca9f95feafb8d5e9ae29a --- /dev/null +++ b/train/FloorPlan402/35/rgb_0_mask_Towel|-00.18|+01.42|+02.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a133851af662110ebfe5559b671cde647aff480b3766b837ce205bc8e0e68da5 +size 725061 diff --git a/train/FloorPlan402/35/rgb_1.png b/train/FloorPlan402/35/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c63a13de9ab75eefb8f30dde0781d5d9f03e8503 --- /dev/null +++ b/train/FloorPlan402/35/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f642d0b68da447781386a3bf45735514466dc7366a226918c42d0107d57823ec +size 873882 diff --git a/train/FloorPlan402/35/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png b/train/FloorPlan402/35/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png new file mode 100644 index 0000000000000000000000000000000000000000..820465006fba1d42d4bfd810a6e2cdb26c4faf4c --- /dev/null +++ b/train/FloorPlan402/35/rgb_1_mask_Towel|-00.18|+01.42|+02.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98451bfadb4717a0de0d62df27ab8174ab5ce83a4268e9ffc7eb954c17b3c33e +size 756846 diff --git a/train/FloorPlan402/35/semantic_0.png b/train/FloorPlan402/35/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9677b37ff59919db847a5f55f8ad731bc9faa221 Binary files /dev/null and b/train/FloorPlan402/35/semantic_0.png differ diff --git a/train/FloorPlan402/35/semantic_1.png b/train/FloorPlan402/35/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..68c00b679c6b2028298f551fff096278e958772a Binary files /dev/null and b/train/FloorPlan402/35/semantic_1.png differ diff --git a/train/FloorPlan402/9/0.json b/train/FloorPlan402/9/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7a45025e35407d4e43361b1836ff3e4de798311d --- /dev/null +++ b/train/FloorPlan402/9/0.json @@ -0,0 +1,2072 @@ +{ + "object": [ + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "object_info": { + "name": "ShowerDoor_4666f48d", + "position": { + "x": -0.28208041191101074, + "y": 1.2287894487380981, + "z": 1.73020601272583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9108879566192627, + "objectType": "ShowerDoor", + "objectId": "ShowerDoor|-00.28|+01.23|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -0.2913331985473633, + 0.15547418594360352, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 2.1703643798828125, + 1.7050056457519531 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7564759254455566 + ], + [ + -1.2834999561309814, + 0.15547418594360352, + 1.7050056457519531 + ] + ], + "center": { + "x": -0.7874165773391724, + "y": 1.162919282913208, + "z": 1.7307407855987549 + }, + "size": { + "x": 0.9921667575836182, + "y": 2.014890193939209, + "z": 0.051470279693603516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "object_info": { + "name": "ToiletPaper_61e4a4d7", + "position": { + "x": -0.2027720957994461, + "y": 1.0349640846252441, + "z": 3.182830572128296 + }, + "rotation": { + "x": 359.7156677246094, + "y": 359.9616394042969, + "z": 0.11465178430080414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.9272571802139282, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.20|+01.03|+03.18", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.183556467294693, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.183556467294693, + 1.0351834297180176, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.1574461460113525, + 3.1630783081054688 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.2020010948181152 + ], + [ + -0.22228392958641052, + 1.0351834297180176, + 3.1630783081054688 + ] + ], + "center": { + "x": -0.20292019844055176, + "y": 1.096314787864685, + "z": 3.182539701461792 + }, + "size": { + "x": 0.03872746229171753, + "y": 0.12226271629333496, + "z": 0.038922786712646484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1835227757692337, + 1.0354186296463013, + 3.202108144760132 + ], + [ + -0.22205103933811188, + 1.0353257656097412, + 3.2020809650421143 + ], + [ + -0.2220236361026764, + 1.035142183303833, + 3.16355299949646 + ], + [ + -0.18349537253379822, + 1.035235047340393, + 3.1635799407958984 + ], + [ + -0.18381676077842712, + 1.1574872732162476, + 3.201526165008545 + ], + [ + -0.2223450094461441, + 1.1573944091796875, + 3.2014992237091064 + ], + [ + -0.22231760621070862, + 1.1572108268737793, + 3.162971258163452 + ], + [ + -0.18378935754299164, + 1.1573036909103394, + 3.1629981994628906 + ] + ] + } + } + }, + { + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "object_info": { + "name": "ToiletPaperHanger_f7f4dd68", + "position": { + "x": -0.07400000095367432, + "y": 1.1260000467300415, + "z": 3.686000108718872 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2730696201324463, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-00.07|+01.13|+03.69", + "assetId": "Toilet_Paper_Hanger_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399998605251312, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.07399998605251312, + 1.0964559316635132, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.1555441617965698, + 3.641615152359009 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.855323076248169 + ], + [ + -0.1644967794418335, + 1.0964559316635132, + 3.641615152359009 + ] + ], + "center": { + "x": -0.11924838274717331, + "y": 1.1260000467300415, + "z": 3.748469114303589 + }, + "size": { + "x": 0.09049679338932037, + "y": 0.05908823013305664, + "z": 0.21370792388916016 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-00.52|00.00|+03.22", + "object_info": { + "name": "Toilet_81ce13b2", + "position": { + "x": -0.5170000195503235, + "y": -0.0003285519778728485, + "z": 3.2200000286102295 + }, + "rotation": { + "x": -0.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|-00.19|+01.03|+03.37", + "ToiletPaper|-00.20|+01.03|+03.18" + ], + "distance": 1.8786931037902832, + "objectType": "Toilet", + "objectId": "Toilet|-00.52|00.00|+03.22", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04454076290130615, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -0.04454076290130615, + -0.0020971298217773438, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + 1.035815715789795, + 2.9554147720336914 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 3.4848995208740234 + ], + [ + -1.0174083709716797, + -0.0020971298217773438, + 2.9554147720336914 + ] + ], + "center": { + "x": -0.5309745669364929, + "y": 0.5168592929840088, + "z": 3.2201571464538574 + }, + "size": { + "x": 0.9728676080703735, + "y": 1.0379128456115723, + "z": 0.529484748840332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "object_info": { + "name": "ScrubBrush_2f874c37", + "position": { + "x": -0.23153172433376312, + "y": -0.0003285333514213562, + "z": 3.8574726581573486 + }, + "rotation": { + "x": 8.19530469016172e-05, + "y": 0.0002286293456563726, + "z": 0.00018199534679297358 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1899999976158142, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.404581069946289, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.23|00.00|+03.86", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.16538116335868835, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.16538116335868835, + -0.0003288388252258301, + 3.790544033050537 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.92440128326416 + ], + [ + -0.2976827025413513, + 0.4760604500770569, + 3.790544033050537 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.92440128326416 + ], + [ + -0.2976827025413513, + -0.0003288388252258301, + 3.790544033050537 + ] + ], + "center": { + "x": -0.23153193295001984, + "y": 0.23786580562591553, + "z": 3.8574726581573486 + }, + "size": { + "x": 0.13230153918266296, + "y": 0.4763892889022827, + "z": 0.13385725021362305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16538116335868835, + -0.00032841425854712725, + 3.924400568008423 + ], + [ + -0.2976817488670349, + -0.0003288348962087184, + 3.924401044845581 + ], + [ + -0.2976822853088379, + -0.0003286375431343913, + 3.7905447483062744 + ], + [ + -0.16538169980049133, + -0.00032821690547280014, + 3.790544271469116 + ], + [ + -0.16538268327713013, + 0.47606056928634644, + 3.92440128326416 + ], + [ + -0.2976832687854767, + 0.476060152053833, + 3.9244017601013184 + ], + [ + -0.29768380522727966, + 0.47606033086776733, + 3.7905454635620117 + ], + [ + -0.1653832197189331, + 0.47606074810028076, + 3.7905449867248535 + ] + ] + } + } + }, + { + "objectId": "Towel|-00.18|+01.42|+02.43", + "object_info": { + "name": "Towel_4e1d52ab", + "position": { + "x": -0.18111112713813782, + "y": 1.4190000295639038, + "z": 2.4250001907348633 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.892788290977478, + "objectType": "Towel", + "objectId": "Towel|-00.18|+01.42|+02.43", + "assetId": "Bath_Towel_2", + "parentReceptacles": [ + "TowelHolder|-00.07|+01.41|+02.43" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.16253232955932617, + 0.8397681713104248, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.612473964691162 + ], + [ + -0.20532166957855225, + 0.8397681713104248, + 2.2045035362243652 + ] + ], + "center": { + "x": -0.1839269995689392, + "y": 1.1357643604278564, + "z": 2.4084887504577637 + }, + "size": { + "x": 0.042789340019226074, + "y": 0.5919923782348633, + "z": 0.4079704284667969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.20532046258449554, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 0.83976811170578, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 0.83976811170578, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 0.83976811170578, + 2.612473964691162 + ], + [ + -0.20532046258449554, + 1.431760549545288, + 2.612473964691162 + ], + [ + -0.20532165467739105, + 1.431760549545288, + 2.2045037746429443 + ], + [ + -0.16253352165222168, + 1.431760549545288, + 2.2045035362243652 + ], + [ + -0.16253232955932617, + 1.431760549545288, + 2.612473964691162 + ] + ] + } + } + }, + { + "objectId": "Plunger|-00.21|00.00|+03.54", + "object_info": { + "name": "Plunger_ed710244", + "position": { + "x": -0.2129979431629181, + "y": -0.0007912442088127136, + "z": 3.5369977951049805 + }, + "rotation": { + "x": -0.001175427925772965, + "y": 0.0010995414340868592, + "z": 0.0007850115653127432 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.25419020652771, + "objectType": "Plunger", + "objectId": "Plunger|-00.21|00.00|+03.54", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13884791731834412, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.13884791731834412, + -0.000329822301864624, + 3.462920665740967 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + 0.5390117168426514, + 3.462920665740967 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.6109323501586914 + ], + [ + -0.2871493101119995, + -0.000329822301864624, + 3.462920665740967 + ] + ], + "center": { + "x": -0.21299861371517181, + "y": 0.26934096217155457, + "z": 3.536926507949829 + }, + "size": { + "x": 0.1483013927936554, + "y": 0.5393415689468384, + "z": 0.1480116844177246 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.1388479471206665, + -0.0003248240100219846, + 3.610929489135742 + ], + [ + -0.2871449589729309, + -0.0003268355503678322, + 3.6109323501586914 + ], + [ + -0.2871478796005249, + -0.0003298464580439031, + 3.462925910949707 + ], + [ + -0.1388508528470993, + -0.0003278349176980555, + 3.462923049926758 + ], + [ + -0.13885526359081268, + 0.5390133857727051, + 3.6109185218811035 + ], + [ + -0.2871522903442383, + 0.5390113592147827, + 3.6109213829040527 + ], + [ + -0.2871551811695099, + 0.539008378982544, + 3.4629149436950684 + ], + [ + -0.13885816931724548, + 0.5390104055404663, + 3.462912082672119 + ] + ] + } + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "object_info": { + "name": "ToiletPaper_b19504c2", + "position": { + "x": -0.18780526518821716, + "y": 1.0337458848953247, + "z": 3.373924493789673 + }, + "rotation": { + "x": 359.8646545410156, + "y": 359.92706298828125, + "z": 0.5478934049606323 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.0163092613220215, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.19|+01.03|+03.37", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-00.52|00.00|+03.22" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.13546356558799744, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.13546356558799744, + 1.0355587005615234, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.1544404029846191, + 3.321604013442993 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.4259560108184814 + ], + [ + -0.23991522192955017, + 1.0355587005615234, + 3.321604013442993 + ] + ], + "center": { + "x": -0.1876893937587738, + "y": 1.0949995517730713, + "z": 3.3737800121307373 + }, + "size": { + "x": 0.10445165634155273, + "y": 0.1188817024230957, + "z": 0.10435199737548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.13503378629684448, + 1.0363677740097046, + 3.426145076751709 + ], + [ + -0.23934775590896606, + 1.0353702306747437, + 3.4260146617889404 + ], + [ + -0.2392149418592453, + 1.0351238250732422, + 3.3216962814331055 + ], + [ + -0.13490095734596252, + 1.0361213684082031, + 3.321826696395874 + ], + [ + -0.13616693019866943, + 1.1548999547958374, + 3.425863742828369 + ], + [ + -0.24048089981079102, + 1.1539024114608765, + 3.4257330894470215 + ], + [ + -0.24034808576107025, + 1.153656005859375, + 3.3214147090911865 + ], + [ + -0.13603411614894867, + 1.154653549194336, + 3.321545124053955 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "object_info": { + "name": "TowelHolder_fb9ff080", + "position": { + "x": -0.07421112060546875, + "y": 1.4049999713897705, + "z": 2.424999952316284 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Towel|-00.18|+01.42|+02.43" + ], + "distance": 1.9921436309814453, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.07|+01.41|+02.43", + "assetId": "Bath_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07434023916721344, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.07434023916721344, + 1.3842297792434692, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.4258538484573364, + 2.0955309867858887 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.7540812492370605 + ], + [ + -0.18645219504833221, + 1.3842297792434692, + 2.0955309867858887 + ] + ], + "center": { + "x": -0.13039621710777283, + "y": 1.4050418138504028, + "z": 2.4248061180114746 + }, + "size": { + "x": 0.11211195588111877, + "y": 0.04162406921386719, + "z": 0.6585502624511719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_0b2fc3ae", + "position": { + "x": -0.5691999793052673, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7834455966949463, + "objectType": "SinkBasin", + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3147736191749573, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -0.5792245864868164, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289019346237183, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "object_info": { + "name": "ShowerHead_2c6df809", + "position": { + "x": -0.09399999678134918, + "y": 1.0169999599456787, + "z": 0.8899999856948853 + }, + "rotation": { + "x": -0.0, + "y": 269.9997863769531, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.497692584991455, + "objectType": "ShowerHead", + "objectId": "ShowerHead|-00.09|+01.02|+00.89", + "assetId": "Shower_Head_1", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.08045965433120728, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.08045965433120728, + 0.7620234489440918, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 2.5729105472564697, + 0.7655603885650635 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 1.0984084606170654 + ], + [ + -0.32603919506073, + 0.7620234489440918, + 0.7655603885650635 + ] + ], + "center": { + "x": -0.20324942469596863, + "y": 1.6674669981002808, + "z": 0.9319844245910645 + }, + "size": { + "x": 0.2455795407295227, + "y": 1.810887098312378, + "z": 0.33284807205200195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.7000000476837158, + "y": 0.9006701707839966, + "z": 3.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 108.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.7000000476837158, + "y": 1.5756702423095703, + "z": 3.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "CounterTop|-01.02|+00.95|+04.88", + "Sink|-00.58|+00.93|+04.87|SinkBasin", + "HandTowelHolder|-00.07|+01.57|+04.81", + "Cabinet|-00.12|+00.36|+04.63", + "HandTowel|-00.11|+01.47|+04.81", + "Sink|-00.58|+00.93|+04.87" + ], + "different_object": [ + "ToiletPaperHanger|-00.07|+01.13|+03.69", + "ScrubBrush|-00.23|00.00|+03.86", + "Toilet|-00.52|00.00|+03.22", + "Towel|-00.18|+01.42|+02.43", + "ShowerHead|-00.09|+01.02|+00.89", + "ToiletPaper|-00.19|+01.03|+03.37", + "ShowerDoor|-00.28|+01.23|+01.73", + "ToiletPaper|-00.20|+01.03|+03.18", + "TowelHolder|-00.07|+01.41|+02.43", + "Plunger|-00.21|00.00|+03.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/9/0_depth_npy.npy b/train/FloorPlan402/9/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c823cc349a8fd0b39f44f873499f5b4ff18f7f08 --- /dev/null +++ b/train/FloorPlan402/9/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d5ad1a501fecf74af2fac21d0b57c02f1606f317d7049aeee3b7668a9cb7aea +size 3145856 diff --git a/train/FloorPlan402/9/0_semantic_sensor_npy.npy b/train/FloorPlan402/9/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0210f4d4153e09e2430ed42aa3b49b0a9c288dd6 --- /dev/null +++ b/train/FloorPlan402/9/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f31fe7f635968ccb727cb4ff9f767720cd531442a1acf639dfdbf6cae260d71 +size 2359424 diff --git a/train/FloorPlan402/9/1.json b/train/FloorPlan402/9/1.json new file mode 100644 index 0000000000000000000000000000000000000000..1b847ac0c011953780f50ca953a0269056d65c3b --- /dev/null +++ b/train/FloorPlan402/9/1.json @@ -0,0 +1,2532 @@ +{ + "object": [ + { + "objectId": "LightSwitch|-02.50|+01.37|+05.15", + "object_info": { + "name": "LightSwitch_2f6f7add", + "position": { + "x": -2.496000051498413, + "y": 1.3669999837875366, + "z": 5.146415710449219 + }, + "rotation": { + "x": -0.0, + "y": 180.00033569335938, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7325804233551025, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-02.50|+01.37|+05.15", + "assetId": "Light_Switch_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4371230602264404, + 1.4276190996170044, + 5.146416187286377 + ], + [ + -2.4371230602264404, + 1.4276190996170044, + 5.11565637588501 + ], + [ + -2.4371230602264404, + 1.3063808679580688, + 5.146416187286377 + ], + [ + -2.4371230602264404, + 1.3063808679580688, + 5.11565637588501 + ], + [ + -2.5548770427703857, + 1.4276190996170044, + 5.146416187286377 + ], + [ + -2.5548770427703857, + 1.4276190996170044, + 5.11565637588501 + ], + [ + -2.5548770427703857, + 1.3063808679580688, + 5.146416187286377 + ], + [ + -2.5548770427703857, + 1.3063808679580688, + 5.11565637588501 + ] + ], + "center": { + "x": -2.496000051498413, + "y": 1.3669999837875366, + "z": 5.131036281585693 + }, + "size": { + "x": 0.11775398254394531, + "y": 0.12123823165893555, + "z": 0.030759811401367188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "object_info": { + "name": "HandTowelHolder_a309e830", + "position": { + "x": -0.07400000095367432, + "y": 1.569000005722046, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HandTowel|-00.11|+01.47|+04.81" + ], + "distance": 3.081697702407837, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-00.07|+01.57|+04.81", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07399997115135193, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.07399997115135193, + 1.4032951593399048, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.613587498664856, + 4.727494239807129 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.8983049392700195 + ], + [ + -0.12262721359729767, + 1.4032951593399048, + 4.727494239807129 + ] + ], + "center": { + "x": -0.0983135923743248, + "y": 1.5084413290023804, + "z": 4.812899589538574 + }, + "size": { + "x": 0.04862724244594574, + "y": 0.21029233932495117, + "z": 0.17081069946289062 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "object_info": { + "name": "Cabinet_bd9c7c59", + "position": { + "x": -1.0596699714660645, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.3931381702423096, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.06|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0596699714660645, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.0596699714660645, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -1.5050573348999023, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -1.2823636531829834, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.4453873634338379, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "object_info": { + "name": "GarbageCan_4bfb5574", + "position": { + "x": -2.346003770828247, + "y": 0.0030006468296051025, + "z": 4.878763675689697 + }, + "rotation": { + "x": 0.9101229310035706, + "y": 180.002685546875, + "z": -6.295583261817228e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 2.5659396648406982, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-02.35|+00.00|+04.88", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.001185894012451, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.001185894012451, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.001185894012451, + -0.00032660365104675293, + 4.626857757568359 + ], + [ + -2.679744243621826, + 0.509880542755127, + 5.098737716674805 + ], + [ + -2.679744243621826, + 0.509880542755127, + 4.626857757568359 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 5.098737716674805 + ], + [ + -2.679744243621826, + -0.00032660365104675293, + 4.626857757568359 + ] + ], + "center": { + "x": -2.3404650688171387, + "y": 0.2547769844532013, + "z": 4.862797737121582 + }, + "size": { + "x": 0.678558349609375, + "y": 0.5102071762084961, + "z": 0.4718799591064453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.679751396179199, + -0.0060831159353256226, + 4.63466739654541 + ], + [ + -2.001188278198242, + -0.006083060055971146, + 4.6346354484558105 + ], + [ + -2.0011661052703857, + 0.0014130910858511925, + 5.106532573699951 + ], + [ + -2.6797292232513428, + 0.0014130352064967155, + 5.106564521789551 + ], + [ + -2.6797518730163574, + 0.5030497312545776, + 4.626579761505127 + ], + [ + -2.0011887550354004, + 0.5030497312545776, + 4.626547813415527 + ], + [ + -2.001166582107544, + 0.5105459094047546, + 5.098444938659668 + ], + [ + -2.679729700088501, + 0.5105459094047546, + 5.098476886749268 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.52|+01.05|+05.10", + "object_info": { + "name": "Faucet_b2d11a28", + "position": { + "x": -1.524957299232483, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6435985565185547, + "objectType": "Faucet", + "objectId": "Faucet|-01.52|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2335190773010254, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.2335190773010254, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -1.8181767463684082, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -1.5258479118347168, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846576690673828, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-00.98|+01.58|+05.15", + "object_info": { + "name": "Mirror_e9700b26", + "position": { + "x": -0.9755375385284424, + "y": 1.5779999494552612, + "z": 5.145601272583008 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9167628288269043, + "objectType": "Mirror", + "objectId": "Mirror|-00.98|+01.58|+05.15", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.29959535598754883, + 1.912614345550537, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.912614345550537, + 5.104158878326416 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -0.29959535598754883, + 1.2438764572143555, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.912614345550537, + 5.104158878326416 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.158884525299072 + ], + [ + -1.8365726470947266, + 1.2438764572143555, + 5.104158878326416 + ] + ], + "center": { + "x": -1.0680840015411377, + "y": 1.5782454013824463, + "z": 5.131521701812744 + }, + "size": { + "x": 1.5369772911071777, + "y": 0.6687378883361816, + "z": 0.05472564697265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "object_info": { + "name": "Cabinet_6809ef74", + "position": { + "x": -1.96287202835083, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-01.74|+00.03|+04.87" + ], + "distance": 2.2009689807891846, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.96|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.515770435333252, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.515770435333252, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.9638042449951172, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -1.7397873401641846, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.44803380966186523, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "object_info": { + "name": "SoapBottle_a48be41a", + "position": { + "x": -1.0608566999435425, + "y": 0.9542958736419678, + "z": 5.029001712799072 + }, + "rotation": { + "x": -0.0012093790573999286, + "y": 180.00137329101562, + "z": 0.0010013125138357282 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.698280096054077, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.06|+00.95|+05.03", + "assetId": "Soap_Bottle_2", + "parentReceptacles": [ + "CounterTop|-01.02|+00.95|+04.88" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9792790412902832, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 1.249077320098877, + 4.971869468688965 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -0.9792790412902832, + 0.9541935920715332, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 1.249077320098877, + 4.971869468688965 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 5.0861310958862305 + ], + [ + -1.1424336433410645, + 0.9541935920715332, + 4.971869468688965 + ] + ], + "center": { + "x": -1.0608563423156738, + "y": 1.101635456085205, + "z": 5.029000282287598 + }, + "size": { + "x": 0.16315460205078125, + "y": 0.29488372802734375, + "z": 0.11426162719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.1424338817596436, + 0.9541951417922974, + 4.971873760223389 + ], + [ + -0.9792821407318115, + 0.9541932940483093, + 4.9718708992004395 + ], + [ + -0.9792799353599548, + 0.9541943073272705, + 5.0861287117004395 + ], + [ + -1.1424317359924316, + 0.9541961550712585, + 5.086131572723389 + ], + [ + -1.1424306631088257, + 1.2490777969360352, + 4.971871376037598 + ], + [ + -0.9792788028717041, + 1.2490758895874023, + 4.97186803817749 + ], + [ + -0.9792766571044922, + 1.2490769624710083, + 5.08612585067749 + ], + [ + -1.1424283981323242, + 1.2490787506103516, + 5.086129188537598 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.58|+01.05|+05.10", + "object_info": { + "name": "Faucet_75d5ab92", + "position": { + "x": -0.5831999778747559, + "y": 1.0472999811172485, + "z": 5.096429824829102 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.9614641666412354, + "objectType": "Faucet", + "objectId": "Faucet|-00.58|+01.05|+05.10", + "assetId": "Bathroom_Faucet_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2917616367340088, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.2917616367340088, + 1.0462150573730469, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.2447001934051514, + 4.89402961730957 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 5.15142822265625 + ], + [ + -0.8764194250106812, + 1.0462150573730469, + 4.89402961730957 + ] + ], + "center": { + "x": -0.584090530872345, + "y": 1.1454576253890991, + "z": 5.02272891998291 + }, + "size": { + "x": 0.5846577882766724, + "y": 0.1984851360321045, + "z": 0.2573986053466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "object_info": { + "name": "Cabinet_e90dc44e", + "position": { + "x": -1.0278019905090332, + "y": 0.3641459345817566, + "z": 4.634251117706299 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|-00.80|+00.03|+04.93" + ], + "distance": 2.4058377742767334, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.03|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.5807002782821655, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -0.5807002782821655, + 0.018600881099700928, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.7100347876548767, + 4.621819972991943 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 5.1256022453308105 + ], + [ + -1.0287342071533203, + 0.018600881099700928, + 4.621819972991943 + ] + ], + "center": { + "x": -0.8047172427177429, + "y": 0.3643178343772888, + "z": 4.873711109161377 + }, + "size": { + "x": 0.4480339288711548, + "y": 0.6914339065551758, + "z": 0.5037822723388672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Candle|-03.13|+00.68|+03.92", + "object_info": { + "name": "Candle_2b3797d8", + "position": { + "x": -3.1340491771698, + "y": 0.6763012409210205, + "z": 3.9199318885803223 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 1.83101487159729, + "objectType": "Candle", + "objectId": "Candle|-03.13|+00.68|+03.92", + "assetId": "Candle_2", + "parentReceptacles": [ + "Bathtub|-02.90|+00.67|+02.86" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.1262247562408447, + 0.8351686000823975, + 3.9277563095092773 + ], + [ + -3.1262247562408447, + 0.8351686000823975, + 3.912107467651367 + ], + [ + -3.1262247562408447, + 0.6673177480697632, + 3.9277563095092773 + ], + [ + -3.1262247562408447, + 0.6673177480697632, + 3.912107467651367 + ], + [ + -3.141873598098755, + 0.8351686000823975, + 3.9277563095092773 + ], + [ + -3.141873598098755, + 0.8351686000823975, + 3.912107467651367 + ], + [ + -3.141873598098755, + 0.6673177480697632, + 3.9277563095092773 + ], + [ + -3.141873598098755, + 0.6673177480697632, + 3.912107467651367 + ] + ], + "center": { + "x": -3.1340491771698, + "y": 0.7512431740760803, + "z": 3.9199318885803223 + }, + "size": { + "x": 0.015648841857910156, + "y": 0.16785085201263428, + "z": 0.015648841857910156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1262247562408447, + 0.6673176884651184, + 3.9277563095092773 + ], + [ + -3.141873598098755, + 0.6673176884651184, + 3.9277563095092773 + ], + [ + -3.141873598098755, + 0.6673176884651184, + 3.912107467651367 + ], + [ + -3.1262247562408447, + 0.6673176884651184, + 3.912107467651367 + ], + [ + -3.1262247562408447, + 0.8351686000823975, + 3.9277563095092773 + ], + [ + -3.141873598098755, + 0.8351686000823975, + 3.9277563095092773 + ], + [ + -3.141873598098755, + 0.8351686000823975, + 3.912107467651367 + ], + [ + -3.1262247562408447, + 0.8351686000823975, + 3.912107467651367 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87", + "object_info": { + "name": "Sink_8218170e", + "position": { + "x": -1.524999976158142, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.421196937561035, + "objectType": "Sink", + "objectId": "Sink|-01.53|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2357237339019775, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.2357237339019775, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 1.070879340171814, + 4.607234477996826 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -1.8142743110656738, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -1.5249990224838257, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785505771636963, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "object_info": { + "name": "HandTowel_001a809d", + "position": { + "x": -0.11230001598596573, + "y": 1.4670000076293945, + "z": 4.810999870300293 + }, + "rotation": { + "x": -0.0, + "y": 90.00020599365234, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.037245750427246, + "objectType": "HandTowel", + "objectId": "HandTowel|-00.11|+01.47|+04.81", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-00.07|+01.57|+04.81" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09579220414161682, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.09579220414161682, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435637950897217, + 1.0693011283874512, + 4.746677875518799 + ] + ], + "center": { + "x": -0.1150742918252945, + "y": 1.2717453241348267, + "z": 4.810999870300293 + }, + "size": { + "x": 0.03856417536735535, + "y": 0.404888391494751, + "z": 0.12864398956298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.09579268842935562, + 1.0693011283874512, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.0693011283874512, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.0693011283874512, + 4.746678352355957 + ], + [ + -0.09579268842935562, + 1.4741895198822021, + 4.746677875518799 + ], + [ + -0.09579222649335861, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435590267181396, + 1.4741895198822021, + 4.875321865081787 + ], + [ + -0.13435636460781097, + 1.4741895198822021, + 4.746678352355957 + ] + ] + } + } + }, + { + "objectId": "Faucet|-03.48|+00.71|+03.92", + "object_info": { + "name": "Faucet_ada1cd21", + "position": { + "x": -3.475170850753784, + "y": 0.7116000056266785, + "z": 3.9149999618530273 + }, + "rotation": { + "x": -0.0, + "y": 180.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.0528275966644287, + "objectType": "Faucet", + "objectId": "Faucet|-03.48|+00.71|+03.92", + "assetId": "Bathtub_Faucet_2", + "parentReceptacles": [ + "Bathtub|-02.90|+00.67|+02.86" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.340803384780884, + 0.823095440864563, + 3.9526734352111816 + ], + [ + -3.340803384780884, + 0.823095440864563, + 3.5799622535705566 + ], + [ + -3.340803384780884, + 0.7048896551132202, + 3.9526734352111816 + ], + [ + -3.340803384780884, + 0.7048896551132202, + 3.5799622535705566 + ], + [ + -3.6095383167266846, + 0.823095440864563, + 3.9526734352111816 + ], + [ + -3.6095383167266846, + 0.823095440864563, + 3.5799622535705566 + ], + [ + -3.6095383167266846, + 0.7048896551132202, + 3.9526734352111816 + ], + [ + -3.6095383167266846, + 0.7048896551132202, + 3.5799622535705566 + ] + ], + "center": { + "x": -3.475170850753784, + "y": 0.7639925479888916, + "z": 3.766317844390869 + }, + "size": { + "x": 0.2687349319458008, + "y": 0.11820578575134277, + "z": 0.372711181640625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87", + "object_info": { + "name": "Sink_ebbaeae8", + "position": { + "x": -0.5792999863624573, + "y": 0.9269999861717224, + "z": 4.874000072479248 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.7667596340179443, + "objectType": "Sink", + "objectId": "Sink|-00.58|+00.93|+04.87", + "assetId": "Sink_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2900238633155823, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.2900238633155823, + 0.9269999265670776, + 4.607234477996826 + ], + [ + -0.868574321269989, + 1.070879340171814, + 5.009740352630615 + ], + [ + -0.868574321269989, + 1.070879340171814, + 4.607234477996826 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 5.009740352630615 + ], + [ + -0.868574321269989, + 0.9269999265670776, + 4.607234477996826 + ] + ], + "center": { + "x": -0.5792990922927856, + "y": 0.9989396333694458, + "z": 4.808487415313721 + }, + "size": { + "x": 0.5785504579544067, + "y": 0.14387941360473633, + "z": 0.40250587463378906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "object_info": { + "name": "Cabinet_25297d70", + "position": { + "x": -0.12459999322891235, + "y": 0.3641459345817566, + "z": 4.634252071380615 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.891369104385376, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.12|+00.36|+04.63", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12459999322891235, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.12459999322891235, + 0.01871734857559204, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.7105475068092346, + 4.621687889099121 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 5.125601768493652 + ], + [ + -0.5699872374534607, + 0.01871734857559204, + 4.621687889099121 + ] + ], + "center": { + "x": -0.3472936153411865, + "y": 0.36463242769241333, + "z": 4.873644828796387 + }, + "size": { + "x": 0.44538724422454834, + "y": 0.6918301582336426, + "z": 0.5039138793945312 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_0b2fc3ae", + "position": { + "x": -0.5691999793052673, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7834455966949463, + "objectType": "SinkBasin", + "objectId": "Sink|-00.58|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3147736191749573, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.3147736191749573, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 1.017487645149231, + 4.792339324951172 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -0.8436755537986755, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -0.5792245864868164, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289019346237183, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "object_info": { + "name": "SinkBasin_28b928cc", + "position": { + "x": -1.5148999691009521, + "y": 0.9865999817848206, + "z": 4.886000156402588 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4363298416137695, + "objectType": "SinkBasin", + "objectId": "Sink|-01.53|+00.93|+04.87|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.2604734897613525, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.2604734897613525, + 0.9783142805099487, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 1.017487645149231, + 4.792339324951172 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.984642028808594 + ], + [ + -1.7893755435943604, + 0.9783142805099487, + 4.792339324951172 + ] + ], + "center": { + "x": -1.5249245166778564, + "y": 0.9979009628295898, + "z": 4.888490676879883 + }, + "size": { + "x": 0.5289020538330078, + "y": 0.03917336463928223, + "z": 0.19230270385742188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "object_info": { + "name": "HandTowelHolder_691a856c", + "position": { + "x": -2.0940001010894775, + "y": 1.5440000295639038, + "z": 5.145999908447266 + }, + "rotation": { + "x": -0.0, + "y": 179.99984741210938, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7247064113616943, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-02.09|+01.54|+05.15", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0104947090148926, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.0104947090148926, + 1.3782951831817627, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.5885875225067139, + 5.097372531890869 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.146000385284424 + ], + [ + -2.181305408477783, + 1.3782951831817627, + 5.097372531890869 + ] + ], + "center": { + "x": -2.095900058746338, + "y": 1.4834413528442383, + "z": 5.1216864585876465 + }, + "size": { + "x": 0.17081069946289062, + "y": 0.21029233932495117, + "z": 0.04862785339355469 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|-02.90|+00.67|+02.86", + "object_info": { + "name": "Bathtub_b837a28d", + "position": { + "x": -2.8964381217956543, + "y": 0.6673177480697632, + "z": 2.8605003356933594 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-03.13|+00.68|+03.92", + "Faucet|-03.48|+00.71|+03.92" + ], + "distance": 0.9939895272254944, + "objectType": "Bathtub", + "objectId": "Bathtub|-02.90|+00.67|+02.86", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|00.00|-00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5470943450927734, + 0.679813027381897, + 4.03078556060791 + ], + [ + -2.5470943450927734, + 0.679813027381897, + 1.6920289993286133 + ], + [ + -2.5470943450927734, + 0.008055448532104492, + 4.03078556060791 + ], + [ + -2.5470943450927734, + 0.008055448532104492, + 1.6920289993286133 + ], + [ + -4.197375297546387, + 0.679813027381897, + 4.03078556060791 + ], + [ + -4.197375297546387, + 0.679813027381897, + 1.6920289993286133 + ], + [ + -4.197375297546387, + 0.008055448532104492, + 4.03078556060791 + ], + [ + -4.197375297546387, + 0.008055448532104492, + 1.6920289993286133 + ] + ], + "center": { + "x": -3.37223482131958, + "y": 0.34393423795700073, + "z": 2.8614072799682617 + }, + "size": { + "x": 1.6502809524536133, + "y": 0.6717575788497925, + "z": 2.338756561279297 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "object_info": { + "name": "CounterTop_794eb6a3", + "position": { + "x": -1.0235509872436523, + "y": 0.9540426135063171, + "z": 4.884474277496338 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.06|+00.95|+05.03" + ], + "distance": 2.577211380004883, + "objectType": "CounterTop", + "objectId": "CounterTop|-01.02|+00.95|+04.88", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.05846261978149414, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 5.151462078094482 + ], + [ + -0.05846261978149414, + 0.924630880355835, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.9556457996368408, + 4.603054523468018 + ], + [ + -1.998347282409668, + 0.924630880355835, + 5.151462078094482 + ], + [ + -1.998347282409668, + 0.924630880355835, + 4.603054523468018 + ] + ], + "center": { + "x": -1.028404951095581, + "y": 0.9401383399963379, + "z": 4.87725830078125 + }, + "size": { + "x": 1.9398846626281738, + "y": 0.03101491928100586, + "z": 0.5484075546264648 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.0, + "y": 0.9006701707839966, + "z": 2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 358.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.0, + "y": 1.5756702423095703, + "z": 2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "CounterTop|-01.02|+00.95|+04.88", + "Sink|-00.58|+00.93|+04.87|SinkBasin", + "HandTowelHolder|-00.07|+01.57|+04.81", + "Cabinet|-00.12|+00.36|+04.63", + "HandTowel|-00.11|+01.47|+04.81", + "Sink|-00.58|+00.93|+04.87" + ], + "different_object": [ + "Cabinet|-01.06|+00.36|+04.63", + "LightSwitch|-02.50|+01.37|+05.15", + "Bathtub|-02.90|+00.67|+02.86", + "Sink|-01.53|+00.93|+04.87|SinkBasin", + "Mirror|-00.98|+01.58|+05.15", + "Cabinet|-01.96|+00.36|+04.63", + "Cabinet|-01.03|+00.36|+04.63", + "GarbageCan|-02.35|+00.00|+04.88", + "Faucet|-00.58|+01.05|+05.10", + "Candle|-03.13|+00.68|+03.92", + "Faucet|-01.52|+01.05|+05.10", + "HandTowelHolder|-02.09|+01.54|+05.15", + "Sink|-01.53|+00.93|+04.87", + "SoapBottle|-01.06|+00.95|+05.03", + "Faucet|-03.48|+00.71|+03.92" + ] +} \ No newline at end of file diff --git a/train/FloorPlan402/9/1_depth_npy.npy b/train/FloorPlan402/9/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..dceedd2a247c8d4eb2efcb67f55b166730e124c4 --- /dev/null +++ b/train/FloorPlan402/9/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48c1891b9b200ec0b242ac8f6266c4ba7c39ae21fdf195bdfb12854387f79227 +size 3145856 diff --git a/train/FloorPlan402/9/1_semantic_sensor_npy.npy b/train/FloorPlan402/9/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1bddbba01ea620efd7a0414b40f5dd673f7fe943 --- /dev/null +++ b/train/FloorPlan402/9/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec1897a38e406603193d008a92774e40aa6586dbcb39d5c137a697610ebaefa6 +size 2359424 diff --git a/train/FloorPlan402/9/depth_0.png b/train/FloorPlan402/9/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fce8d83a36b65aa7ecbf801dab01ec7f29e56f6b Binary files /dev/null and b/train/FloorPlan402/9/depth_0.png differ diff --git a/train/FloorPlan402/9/depth_1.png b/train/FloorPlan402/9/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4bad57b98fec2bf3c81f5d1d9d5fc36e87411648 Binary files /dev/null and b/train/FloorPlan402/9/depth_1.png differ diff --git a/train/FloorPlan402/9/mask_questions.jsonl b/train/FloorPlan402/9/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39cbdac735fb9e253f99991d8cd50ebe5d3fca2c --- /dev/null +++ b/train/FloorPlan402/9/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 15057, "folder_dir": "FloorPlan402/9", "pair_name": "0-1:Cabinet|-00.12|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaper\nB. Cabinet\nC. Towel\nD. CounterTop", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan402/9/rgb_0.png", "image_2": "FloorPlan402/9/rgb_1.png", "mask_image": "FloorPlan402/9/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png", "options": ["ToiletPaper", "Cabinet", "Towel", "CounterTop"]} +{"id": 15058, "folder_dir": "FloorPlan402/9", "pair_name": "0-1:HandTowel|-00.11|+01.47|+04.81", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HandTowel\nB. TowelHolder\nC. CounterTop\nD. Towel", "answer": "A", "object_name": "HandTowel", "image_1": "FloorPlan402/9/rgb_0.png", "image_2": "FloorPlan402/9/rgb_1.png", "mask_image": "FloorPlan402/9/rgb_1_mask_HandTowel|-00.11|+01.47|+04.81.png", "options": ["HandTowel", "TowelHolder", "CounterTop", "Towel"]} +{"id": 15059, "folder_dir": "FloorPlan402/9", "pair_name": "1-0:Cabinet|-00.12|+00.36|+04.63", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Mirror\nC. Faucet\nD. CounterTop", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan402/9/rgb_1.png", "image_2": "FloorPlan402/9/rgb_0.png", "mask_image": "FloorPlan402/9/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png", "options": ["Cabinet", "Mirror", "Faucet", "CounterTop"]} +{"id": 15060, "folder_dir": "FloorPlan402/9", "pair_name": "1-0:HandTowel|-00.11|+01.47|+04.81", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. HandTowel\nC. SoapBottle\nD. CounterTop", "answer": "B", "object_name": "HandTowel", "image_1": "FloorPlan402/9/rgb_1.png", "image_2": "FloorPlan402/9/rgb_0.png", "mask_image": "FloorPlan402/9/rgb_0_mask_HandTowel|-00.11|+01.47|+04.81.png", "options": ["Cabinet", "HandTowel", "SoapBottle", "CounterTop"]} diff --git a/train/FloorPlan402/9/questions_distance.jsonl b/train/FloorPlan402/9/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02b64639f15af6f07d927c56c0ce6dabe31e1a04 --- /dev/null +++ b/train/FloorPlan402/9/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4472, "folder_dir": "FloorPlan402/9", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HandTowel\nB. Mirror\nC. SoapBottle\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "SoapBottle", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "HandTowel", "semantic_id": "HandTowel|-00.11|+01.47|+04.81", "distance": 0.9739231307974567, "com": {"x": -0.1150742918252945, "y": 1.2717453241348267, "z": 4.810999870300293}}, {"text": "Mirror", "semantic_id": "Mirror|-00.98|+01.58|+05.15", "distance": 0.6880442761473844, "com": {"x": -1.0680840015411377, "y": 1.5782454013824463, "z": 5.131521701812744}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-01.06|+00.95|+05.03", "distance": 0.22396437272167488, "com": {"x": -1.0608563423156738, "y": 1.101635456085205, "z": 5.029000282287598}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan402/9/rgb_0.png", "image_2": "FloorPlan402/9/rgb_1.png"} diff --git a/train/FloorPlan402/9/rgb_0.png b/train/FloorPlan402/9/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a7ab7156e4c00b14d3ed6983157eec8c4371289e --- /dev/null +++ b/train/FloorPlan402/9/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0faaeade4f2572e39d703b651a705cce36e3da757525cc3aeb61e7e316b6dd57 +size 879909 diff --git a/train/FloorPlan402/9/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png b/train/FloorPlan402/9/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..6d00d85bf7744b2771889964010d4889708c18a4 --- /dev/null +++ b/train/FloorPlan402/9/rgb_0_mask_Cabinet|-00.12|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ad81c315ff464c484b4e0c16aec832a05ecf71bd27265625b6fbce5060b778e +size 767281 diff --git a/train/FloorPlan402/9/rgb_0_mask_HandTowel|-00.11|+01.47|+04.81.png b/train/FloorPlan402/9/rgb_0_mask_HandTowel|-00.11|+01.47|+04.81.png new file mode 100644 index 0000000000000000000000000000000000000000..cabf119708213bb91ff07da34187cb092970f963 --- /dev/null +++ b/train/FloorPlan402/9/rgb_0_mask_HandTowel|-00.11|+01.47|+04.81.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d2d748843c5d65561a097526fd7ad3107395082247fe47f58828650c7985265 +size 767577 diff --git a/train/FloorPlan402/9/rgb_1.png b/train/FloorPlan402/9/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3e72b14f00789686da7d8a1c2c388dc6f5b39bb4 --- /dev/null +++ b/train/FloorPlan402/9/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4aa966f8f28253692e36687ca107ead4d0358d1e6d5a0a5aaec76d81aa852c6a +size 765778 diff --git a/train/FloorPlan402/9/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png b/train/FloorPlan402/9/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png new file mode 100644 index 0000000000000000000000000000000000000000..e2d5f91f2716ac1fc0455ee2925a28b529ebcd17 --- /dev/null +++ b/train/FloorPlan402/9/rgb_1_mask_Cabinet|-00.12|+00.36|+04.63.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bba32b99db97458f615abef7aeba80c11790c733395b3645953c3f39699b0c1e +size 672385 diff --git a/train/FloorPlan402/9/rgb_1_mask_HandTowel|-00.11|+01.47|+04.81.png b/train/FloorPlan402/9/rgb_1_mask_HandTowel|-00.11|+01.47|+04.81.png new file mode 100644 index 0000000000000000000000000000000000000000..91f0c01cf953429c65d56f5db8b5619c7fb9deea --- /dev/null +++ b/train/FloorPlan402/9/rgb_1_mask_HandTowel|-00.11|+01.47|+04.81.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5063928830a9929dc9bfd91fb4db3597a4d224930c0599d6bddb17e58e4132a5 +size 676335 diff --git a/train/FloorPlan402/9/semantic_0.png b/train/FloorPlan402/9/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3a0bc381cbe4ca67817fe8f4d961748abcd6d6d8 Binary files /dev/null and b/train/FloorPlan402/9/semantic_0.png differ diff --git a/train/FloorPlan402/9/semantic_1.png b/train/FloorPlan402/9/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..375e8fc637869d7f57764134849098e214db6ffc Binary files /dev/null and b/train/FloorPlan402/9/semantic_1.png differ diff --git a/train/FloorPlan402/color_to_object_id.json b/train/FloorPlan402/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..623618c52fa5d2cb7105ab7de07d9e5183fa99c1 --- /dev/null +++ b/train/FloorPlan402/color_to_object_id.json @@ -0,0 +1,982 @@ +[ + { + "Mirror|-00.98|+01.58|+05.15": [ + 73, + 61, + 27 + ] + }, + { + "Mirror": [ + 36, + 3, + 222 + ] + }, + { + "Cube|-1.5256|0.9993|5.0796": [ + 106, + 104, + 146 + ] + }, + { + "WallCabinetBody": [ + 214, + 131, + 233 + ] + }, + { + "Ceiling|-2.074897|2.619194|2.622951": [ + 30, + 123, + 87 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "SinkCabinet|-1.04293|0.4113696|4.918384": [ + 139, + 61, + 174 + ] + }, + { + "CeilingLight|-2.228783|2.564229|2.598007": [ + 51, + 171, + 112 + ] + }, + { + "CeilingLight": [ + 230, + 113, + 120 + ] + }, + { + "Window|-01.99|+01.89|+00.14": [ + 169, + 0, + 19 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "Wall|0|0|0": [ + 75, + 182, + 244 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "FP402:Handle_Front.001|-2.802006|1.046271|5.148032": [ + 58, + 104, + 173 + ] + }, + { + "Door": [ + 244, + 78, + 20 + ] + }, + { + "Faucet|-01.52|+01.05|+05.10": [ + 64, + 74, + 25 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Cabinet|-01.96|+00.36|+04.63": [ + 109, + 81, + 214 + ] + }, + { + "Cabinet": [ + 210, + 149, + 89 + ] + }, + { + "Floor|+00.00|00.00|-00.55": [ + 1, + 235, + 48 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "Bathtub|-02.90|+00.67|+02.86": [ + 228, + 224, + 79 + ] + }, + { + "Bathtub": [ + 59, + 170, + 176 + ] + }, + { + "FP402:Door.001|-3.568006|1.046261|5.177032": [ + 43, + 167, + 88 + ] + }, + { + "ShowerGlass|+00.00|+00.00|+00.00": [ + 54, + 4, + 222 + ] + }, + { + "ShowerGlass": [ + 80, + 68, + 237 + ] + }, + { + "Cabinet|-01.03|+00.36|+04.63": [ + 140, + 156, + 190 + ] + }, + { + "Cube (1)|-0.5785|0.9993|5.0796": [ + 82, + 97, + 67 + ] + }, + { + "Rug|-1.58956|-0.092|2.896102": [ + 191, + 111, + 233 + ] + }, + { + "Rug": [ + 84, + 204, + 46 + ] + }, + { + "Walls|-2.074|1.329992|2.622546": [ + 159, + 52, + 88 + ] + }, + { + "ShowerDoor|-00.28|+01.23|+01.73": [ + 19, + 17, + 136 + ] + }, + { + "ShowerDoor": [ + 36, + 253, + 61 + ] + }, + { + "Cabinet|-01.06|+00.36|+04.63": [ + 35, + 77, + 227 + ] + }, + { + "FP402:DoorFrame.001|-3.148006|-0.003731612|5.154569": [ + 238, + 15, + 20 + ] + }, + { + "Cabinet|-00.12|+00.36|+04.63": [ + 170, + 126, + 195 + ] + }, + { + "Shelf|-03.71|+00.53|+00.95": [ + 17, + 167, + 34 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "ScrubBrush|-00.23|00.00|+03.86": [ + 93, + 42, + 69 + ] + }, + { + "ScrubBrush": [ + 222, + 148, + 80 + ] + }, + { + "Towel|-00.18|+01.42|+02.43": [ + 120, + 172, + 88 + ] + }, + { + "Towel": [ + 170, + 186, + 210 + ] + }, + { + "ToiletPaperHanger|-00.07|+01.13|+03.69": [ + 38, + 49, + 73 + ] + }, + { + "ToiletPaperHanger": [ + 124, + 32, + 10 + ] + }, + { + "SoapBottle|-01.06|+00.95|+05.03": [ + 111, + 140, + 155 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Toilet|-00.52|00.00|+03.22": [ + 80, + 147, + 186 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "Cloth|-03.74|+00.53|+00.33": [ + 13, + 173, + 111 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "ToiletPaper|-00.19|+01.03|+03.37": [ + 165, + 215, + 248 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Plunger|-00.21|00.00|+03.54": [ + 151, + 205, + 172 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "TissueBox|-00.80|+00.03|+04.93": [ + 80, + 118, + 200 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TheHand": [ + 160, + 75, + 21 + ] + }, + { + "GarbageCan|-02.35|+00.00|+04.88": [ + 43, + 121, + 235 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "SprayBottle|-01.74|+00.03|+04.87": [ + 9, + 127, + 77 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "Candle|-03.13|+00.68|+03.92": [ + 142, + 147, + 163 + ] + }, + { + "Candle": [ + 233, + 102, + 178 + ] + }, + { + "ToiletPaper|-00.20|+01.03|+03.18": [ + 34, + 234, + 62 + ] + }, + { + "TowelHolder|-01.72|+01.21|+01.74": [ + 42, + 124, + 192 + ] + }, + { + "TowelHolder": [ + 232, + 28, + 225 + ] + }, + { + "TowelHolder|-00.07|+01.41|+02.43": [ + 182, + 171, + 145 + ] + }, + { + "HandTowel|-00.11|+01.47|+04.81": [ + 157, + 42, + 248 + ] + }, + { + "HandTowel": [ + 182, + 187, + 236 + ] + }, + { + "HandTowelHolder|-00.07|+01.57|+04.81": [ + 9, + 94, + 10 + ] + }, + { + "HandTowelHolder": [ + 58, + 218, + 247 + ] + }, + { + "HandTowelHolder|-02.09|+01.54|+05.15": [ + 205, + 132, + 37 + ] + }, + { + "LightSwitch|-02.50|+01.37|+05.15": [ + 0, + 193, + 226 + ] + }, + { + "LightSwitch": [ + 11, + 51, + 121 + ] + }, + { + "SoapBar|-03.66|+00.53|+01.35": [ + 168, + 136, + 53 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "agent_neck_1": [ + 65, + 191, + 232 + ] + }, + { + "agent_body_1 (shadows)": [ + 244, + 106, + 6 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 56, + 39, + 164 + ] + }, + { + "agent_head_1 (shadows)": [ + 44, + 130, + 212 + ] + }, + { + "stretch_robot_base_code": [ + 201, + 86, + 242 + ] + }, + { + "agent_head_1": [ + 154, + 243, + 27 + ] + }, + { + "stretch_robot_laser": [ + 241, + 78, + 154 + ] + }, + { + "stretch_robot_mast": [ + 77, + 18, + 110 + ] + }, + { + "stretch_robot_head_1": [ + 129, + 116, + 116 + ] + }, + { + "agent_neck_3": [ + 75, + 23, + 187 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 188, + 244, + 39 + ] + }, + { + "agent_head_2 (shadows)": [ + 0, + 103, + 219 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 65, + 88, + 97 + ] + }, + { + "agent_collarbone_2": [ + 179, + 243, + 155 + ] + }, + { + "agent_neck_2 (shadows)": [ + 68, + 77, + 206 + ] + }, + { + "agent_head_2": [ + 240, + 31, + 45 + ] + }, + { + "stretch_robot_head_2": [ + 30, + 169, + 125 + ] + }, + { + "agent_neck_3 (shadows)": [ + 114, + 209, + 66 + ] + }, + { + "stretch_robot_omniwheel": [ + 106, + 211, + 181 + ] + }, + { + "robot_elbow_link": [ + 6, + 103, + 218 + ] + }, + { + "robot_camera_link_n": [ + 24, + 250, + 111 + ] + }, + { + "robot_finger_r": [ + 207, + 234, + 233 + ] + }, + { + "robot_finger_l": [ + 46, + 181, + 31 + ] + }, + { + "robot_ar_tag": [ + 52, + 173, + 184 + ] + }, + { + "robot_cam_mount_n": [ + 192, + 199, + 35 + ] + }, + { + "robot_battery_n": [ + 65, + 13, + 37 + ] + }, + { + "robot_plate": [ + 231, + 101, + 54 + ] + }, + { + "robot_main_wheel_r_n": [ + 42, + 35, + 243 + ] + }, + { + "robot_shoulder_link": [ + 71, + 23, + 175 + ] + }, + { + "robot_roll_link_n": [ + 129, + 65, + 164 + ] + }, + { + "robot_gripper_link": [ + 127, + 48, + 67 + ] + }, + { + "robot_forearm_link": [ + 249, + 28, + 154 + ] + }, + { + "robot_main_wheel_l_n": [ + 63, + 28, + 126 + ] + }, + { + "robot_main_body": [ + 47, + 21, + 178 + ] + }, + { + "robot_wrist_link": [ + 245, + 185, + 95 + ] + }, + { + "robot_tilt_link_n": [ + 82, + 54, + 245 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 244, + 115, + 56 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 109, + 12, + 88 + ] + }, + { + "stretch_robot_wheel_r": [ + 183, + 106, + 218 + ] + }, + { + "agent_collarbone_3": [ + 179, + 8, + 114 + ] + }, + { + "Sink|-00.58|+00.93|+04.87": [ + 162, + 88, + 92 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "Sink|-01.53|+00.93|+04.87": [ + 154, + 76, + 16 + ] + }, + { + "stretch_robot_wheel_l": [ + 55, + 123, + 101 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 116, + 104, + 187 + ] + }, + { + "agent_neck_1 (shadows)": [ + 157, + 19, + 140 + ] + }, + { + "agent_body_1": [ + 76, + 124, + 4 + ] + }, + { + "Faucet|-00.58|+01.05|+05.10": [ + 123, + 166, + 219 + ] + }, + { + "stretch_robot_base": [ + 107, + 60, + 200 + ] + }, + { + "Bathtub|-02.90|+00.67|+02.86|BathtubBasin": [ + 105, + 159, + 111 + ] + }, + { + "BathtubBasin": [ + 109, + 206, + 121 + ] + }, + { + "CounterTop|-01.02|+00.95|+04.88": [ + 253, + 108, + 106 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 248, + 107, + 120 + ] + }, + { + "agent_neck_2": [ + 169, + 214, + 133 + ] + }, + { + "agent_collarbone_1": [ + 30, + 121, + 6 + ] + }, + { + "stretch_robot_head_3": [ + 177, + 23, + 139 + ] + }, + { + "Sink|-00.58|+00.93|+04.87|SinkBasin": [ + 190, + 60, + 156 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|-01.53|+00.93|+04.87|SinkBasin": [ + 190, + 67, + 65 + ] + }, + { + "ShowerHead|-00.09|+01.02|+00.89": [ + 194, + 18, + 57 + ] + }, + { + "ShowerHead": [ + 248, + 167, + 29 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 221, + 129, + 118 + ] + }, + { + "Faucet|-03.48|+00.71|+03.92": [ + 160, + 149, + 155 + ] + } +] \ No newline at end of file diff --git a/train/train105/0/0.json b/train/train105/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..b9ff13b3e11a4b71d388902ec47c4cd18cd039f5 --- /dev/null +++ b/train/train105/0/0.json @@ -0,0 +1,1289 @@ +{ + "object": [ + { + "objectId": "Sink|7|1|0", + "object_info": { + "name": "Sink|7|1|0", + "position": { + "x": 12.564163208007812, + "y": 0.0, + "z": 5.516123294830322 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|7|1|1", + "DishSponge|surface|7|28" + ], + "distance": 1.5553089380264282, + "objectType": "Sink", + "objectId": "Sink|7|1|0", + "assetId": "Sink_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.925509452819824, + 0.9760851860046387, + 5.76200008392334 + ], + [ + 12.925509452819824, + 0.9760851860046387, + 5.205995559692383 + ], + [ + 12.925509452819824, + 0.0, + 5.76200008392334 + ], + [ + 12.925509452819824, + 0.0, + 5.205995559692383 + ], + [ + 12.2028169631958, + 0.9760851860046387, + 5.76200008392334 + ], + [ + 12.2028169631958, + 0.9760851860046387, + 5.205995559692383 + ], + [ + 12.2028169631958, + 0.0, + 5.76200008392334 + ], + [ + 12.2028169631958, + 0.0, + 5.205995559692383 + ] + ], + "center": { + "x": 12.564163208007812, + "y": 0.48804259300231934, + "z": 5.483997821807861 + }, + "size": { + "x": 0.7226924896240234, + "y": 0.9760851860046387, + "z": 0.556004524230957 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|7|3", + "object_info": { + "name": "GarbageCan|7|3", + "position": { + "x": 11.455878257751465, + "y": -0.032638370990753174, + "z": 5.573022365570068 + }, + "rotation": { + "x": -0.00035943693364970386, + "y": 180.00018310546875, + "z": -0.0010223278077319264 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "ToiletPaper|surface|7|29" + ], + "distance": 1.9267222881317139, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|3", + "assetId": "bin_17", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.741909980773926, + 0.5611593723297119, + 5.761997222900391 + ], + [ + 11.741909980773926, + 0.5611593723297119, + 5.344573020935059 + ], + [ + 11.741909980773926, + -4.500150680541992e-06, + 5.761997222900391 + ], + [ + 11.741909980773926, + -4.500150680541992e-06, + 5.344573020935059 + ], + [ + 11.173924446105957, + 0.5611593723297119, + 5.761997222900391 + ], + [ + 11.173924446105957, + 0.5611593723297119, + 5.344573020935059 + ], + [ + 11.173924446105957, + -4.500150680541992e-06, + 5.761997222900391 + ], + [ + 11.173924446105957, + -4.500150680541992e-06, + 5.344573020935059 + ] + ], + "center": { + "x": 11.457917213439941, + "y": 0.2805774509906769, + "z": 5.553285121917725 + }, + "size": { + "x": 0.5679855346679688, + "y": 0.5611639022827148, + "z": 0.41742420196533203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 11.173931121826172, + -5.383044481277466e-06, + 5.344572067260742 + ], + [ + 11.741911888122559, + 4.7497451305389404e-06, + 5.344570159912109 + ], + [ + 11.741912841796875, + 2.130866050720215e-06, + 5.761993885040283 + ], + [ + 11.173933029174805, + -8.001923561096191e-06, + 5.761995792388916 + ], + [ + 11.173921585083008, + 0.5611533522605896, + 5.34457540512085 + ], + [ + 11.741901397705078, + 0.5611634850502014, + 5.344573497772217 + ], + [ + 11.741903305053711, + 0.5611608624458313, + 5.761997699737549 + ], + [ + 11.173922538757324, + 0.5611507296562195, + 5.761999607086182 + ] + ] + } + } + }, + { + "objectId": "Sink|7|1|0___0", + "object_info": { + "name": "SinkBasin", + "position": { + "x": 12.58016300201416, + "y": 0.9053000211715698, + "z": 5.459423065185547 + }, + "rotation": { + "x": 1.4033418253411173e-14, + "y": 179.99984741210938, + "z": -1.900357716524003e-23 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.212084412574768, + "objectType": "SinkBasin", + "objectId": "Sink|7|1|0___0", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.877931594848633, + 1.033769130706787, + 5.57139778137207 + ], + [ + 12.877931594848633, + 1.033769130706787, + 5.248729705810547 + ], + [ + 12.877931594848633, + 0.8870009183883667, + 5.57139778137207 + ], + [ + 12.877931594848633, + 0.8870009183883667, + 5.248729705810547 + ], + [ + 12.25039291381836, + 1.033769130706787, + 5.57139778137207 + ], + [ + 12.25039291381836, + 1.033769130706787, + 5.248729705810547 + ], + [ + 12.25039291381836, + 0.8870009183883667, + 5.57139778137207 + ], + [ + 12.25039291381836, + 0.8870009183883667, + 5.248729705810547 + ] + ], + "center": { + "x": 12.564162254333496, + "y": 0.9603850245475769, + "z": 5.410063743591309 + }, + "size": { + "x": 0.6275386810302734, + "y": 0.1467682123184204, + "z": 0.32266807556152344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|6|2|0___1", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 15.090079307556152, + "y": 0.08259887993335724, + "z": 7.159674167633057 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.9805142879486084, + "objectType": "Shelf", + "objectId": "TVStand|6|2|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.385093688964844, + 0.2924346923828125, + 7.829463958740234 + ], + [ + 15.385093688964844, + 0.2924346923828125, + 6.489884376525879 + ], + [ + 15.385093688964844, + 0.08249694108963013, + 7.829463958740234 + ], + [ + 15.385093688964844, + 0.08249694108963013, + 6.489884376525879 + ], + [ + 14.795064926147461, + 0.2924346923828125, + 7.829463958740234 + ], + [ + 14.795064926147461, + 0.2924346923828125, + 6.489884376525879 + ], + [ + 14.795064926147461, + 0.08249694108963013, + 7.829463958740234 + ], + [ + 14.795064926147461, + 0.08249694108963013, + 6.489884376525879 + ] + ], + "center": { + "x": 15.090079307556152, + "y": 0.1874658167362213, + "z": 7.159674167633057 + }, + "size": { + "x": 0.5900287628173828, + "y": 0.20993775129318237, + "z": 1.3395795822143555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|7|0", + "object_info": { + "name": "Toilet|7|0", + "position": { + "x": 9.933899879455566, + "y": 0.0017688274383544922, + "z": 5.289541244506836 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|surface|7|27", + "SoapBottle|surface|7|31", + "SprayBottle|surface|7|30", + "SoapBar|surface|7|32" + ], + "distance": 2.911036252975464, + "objectType": "Toilet", + "objectId": "Toilet|7|0", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.198484420776367, + 1.0379130840301514, + 5.762000560760498 + ], + [ + 10.198484420776367, + 1.0379130840301514, + 4.789133548736572 + ], + [ + 10.198484420776367, + 0.0, + 5.762000560760498 + ], + [ + 10.198484420776367, + 0.0, + 4.789133548736572 + ], + [ + 9.669000625610352, + 1.0379130840301514, + 5.762000560760498 + ], + [ + 9.669000625610352, + 1.0379130840301514, + 4.789133548736572 + ], + [ + 9.669000625610352, + 0.0, + 5.762000560760498 + ], + [ + 9.669000625610352, + 0.0, + 4.789133548736572 + ] + ], + "center": { + "x": 9.93374252319336, + "y": 0.5189565420150757, + "z": 5.275567054748535 + }, + "size": { + "x": 0.5294837951660156, + "y": 1.0379130840301514, + "z": 0.9728670120239258 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|7|1|1", + "object_info": { + "name": "Faucet|7|1|1", + "position": { + "x": 12.564163208007812, + "y": 0.9760851860046387, + "z": 5.727019309997559 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4803178310394287, + "objectType": "Faucet", + "objectId": "Faucet|7|1|1", + "assetId": "Bathroom_Faucet_1", + "parentReceptacles": [ + "Sink|7|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.594583511352539, + 1.18666410446167, + 5.756999969482422 + ], + [ + 12.594583511352539, + 1.18666410446167, + 5.4208879470825195 + ], + [ + 12.594583511352539, + 0.9760851860046387, + 5.756999969482422 + ], + [ + 12.594583511352539, + 0.9760851860046387, + 5.4208879470825195 + ], + [ + 12.533742904663086, + 1.18666410446167, + 5.756999969482422 + ], + [ + 12.533742904663086, + 1.18666410446167, + 5.4208879470825195 + ], + [ + 12.533742904663086, + 0.9760851860046387, + 5.756999969482422 + ], + [ + 12.533742904663086, + 0.9760851860046387, + 5.4208879470825195 + ] + ], + "center": { + "x": 12.564163208007812, + "y": 1.0813746452331543, + "z": 5.588943958282471 + }, + "size": { + "x": 0.060840606689453125, + "y": 0.21057891845703125, + "z": 0.33611202239990234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|6|2|0", + "object_info": { + "name": "TVStand|6|2|0", + "position": { + "x": 15.090079307556152, + "y": 0.0007930994033813477, + "z": 7.159872055053711 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|6|2|1", + "DeskLamp|surface|6|17" + ], + "distance": 3.998279333114624, + "objectType": "TVStand", + "objectId": "TVStand|6|2|0", + "assetId": "TV_Stand_211_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.405999183654785, + 0.5935417413711548, + 7.869783401489258 + ], + [ + 15.405999183654785, + 0.5935417413711548, + 6.449960708618164 + ], + [ + 15.405999183654785, + 2.4437904357910156e-06, + 7.869783401489258 + ], + [ + 15.405999183654785, + 2.4437904357910156e-06, + 6.449960708618164 + ], + [ + 14.77415943145752, + 0.5935417413711548, + 7.869783401489258 + ], + [ + 14.77415943145752, + 0.5935417413711548, + 6.449960708618164 + ], + [ + 14.77415943145752, + 2.4437904357910156e-06, + 7.869783401489258 + ], + [ + 14.77415943145752, + 2.4437904357910156e-06, + 6.449960708618164 + ] + ], + "center": { + "x": 15.090079307556152, + "y": 0.2967720925807953, + "z": 7.159872055053711 + }, + "size": { + "x": 0.6318397521972656, + "y": 0.593539297580719, + "z": 1.4198226928710938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 14.77415943145752, + 2.5033950805664062e-06, + 7.869783401489258 + ], + [ + 14.77415943145752, + 2.5033950805664062e-06, + 6.449960231781006 + ], + [ + 15.405999183654785, + 2.5033950805664062e-06, + 6.449960708618164 + ], + [ + 15.405999183654785, + 2.5033950805664062e-06, + 7.869783878326416 + ], + [ + 14.77415943145752, + 0.5935415029525757, + 7.869783401489258 + ], + [ + 14.77415943145752, + 0.5935415029525757, + 6.449960231781006 + ], + [ + 15.405999183654785, + 0.5935415029525757, + 6.449960708618164 + ], + [ + 15.405999183654785, + 0.5935415029525757, + 7.869783878326416 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 15.091123580932617, + "y": -0.0005980730056762695, + "z": 5.7870001792907715 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.144705057144165, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_Double_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.109865188598633, + 2.099397659301758, + 5.856621265411377 + ], + [ + 15.109865188598633, + 2.099397659301758, + 4.869965076446533 + ], + [ + 15.109865188598633, + 0.0, + 5.856621265411377 + ], + [ + 15.109865188598633, + 0.0, + 4.869965076446533 + ], + [ + 13.10908317565918, + 2.099397659301758, + 5.856621265411377 + ], + [ + 13.10908317565918, + 2.099397659301758, + 4.869965076446533 + ], + [ + 13.10908317565918, + 0.0, + 5.856621265411377 + ], + [ + 13.10908317565918, + 0.0, + 4.869965076446533 + ] + ], + "center": { + "x": 14.109474182128906, + "y": 1.049698829650879, + "z": 5.363293170928955 + }, + "size": { + "x": 2.000782012939453, + "y": 2.099397659301758, + "z": 0.9866561889648438 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|6|2|0___0", + "object_info": { + "name": "Shelf (3)", + "position": { + "x": 15.090079307556152, + "y": 0.33361825346946716, + "z": 7.1598711013793945 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.9367222785949707, + "objectType": "Shelf", + "objectId": "TVStand|6|2|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.38509464263916, + 0.5477637052536011, + 7.829660892486572 + ], + [ + 15.38509464263916, + 0.5477637052536011, + 6.490081310272217 + ], + [ + 15.38509464263916, + 0.33351629972457886, + 7.829660892486572 + ], + [ + 15.38509464263916, + 0.33351629972457886, + 6.490081310272217 + ], + [ + 14.795063972473145, + 0.5477637052536011, + 7.829660892486572 + ], + [ + 14.795063972473145, + 0.5477637052536011, + 6.490081310272217 + ], + [ + 14.795063972473145, + 0.33351629972457886, + 7.829660892486572 + ], + [ + 14.795063972473145, + 0.33351629972457886, + 6.490081310272217 + ] + ], + "center": { + "x": 15.090079307556152, + "y": 0.44064000248908997, + "z": 7.1598711013793945 + }, + "size": { + "x": 0.5900306701660156, + "y": 0.21424740552902222, + "z": 1.3395795822143555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|7|28", + "object_info": { + "name": "DishSponge|surface|7|28", + "position": { + "x": 12.762567520141602, + "y": 0.9698658585548401, + "z": 5.656344890594482 + }, + "rotation": { + "x": 7.370224952697754, + "y": 180.01275634765625, + "z": 355.4245300292969 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 1.4323023557662964, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|7|28", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "Sink|7|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.79941177368164, + 1.0053619146347046, + 5.725895881652832 + ], + [ + 12.79941177368164, + 1.0053619146347046, + 5.5839996337890625 + ], + [ + 12.79941177368164, + 0.9559768438339233, + 5.725895881652832 + ], + [ + 12.79941177368164, + 0.9559768438339233, + 5.5839996337890625 + ], + [ + 12.723979949951172, + 1.0053619146347046, + 5.725895881652832 + ], + [ + 12.723979949951172, + 1.0053619146347046, + 5.5839996337890625 + ], + [ + 12.723979949951172, + 0.9559768438339233, + 5.725895881652832 + ], + [ + 12.723979949951172, + 0.9559768438339233, + 5.5839996337890625 + ] + ], + "center": { + "x": 12.761695861816406, + "y": 0.980669379234314, + "z": 5.654947757720947 + }, + "size": { + "x": 0.07543182373046875, + "y": 0.04938507080078125, + "z": 0.14189624786376953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.726057052612305, + 0.9559768438339233, + 5.58809757232666 + ], + [ + 12.799381256103516, + 0.9617962837219238, + 5.587328910827637 + ], + [ + 12.79941177368164, + 0.9796203374862671, + 5.72512674331665 + ], + [ + 12.72608757019043, + 0.9738008975982666, + 5.725895881652832 + ], + [ + 12.723978996276855, + 0.9817184209823608, + 5.584768772125244 + ], + [ + 12.797303199768066, + 0.9875378608703613, + 5.5839996337890625 + ], + [ + 12.797333717346191, + 1.0053619146347046, + 5.721797466278076 + ], + [ + 12.72400951385498, + 0.9995424151420593, + 5.722566604614258 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 12.5, + "y": 0.9009997844696045, + "z": 4.300000190734863 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 12.5, + "y": 1.5759997367858887, + "z": 4.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|6|2|0", + "TVStand|6|2|0___1", + "door|6|7", + "TVStand|6|2|0___0" + ], + "different_object": [ + "DishSponge|surface|7|28", + "Sink|7|1|0", + "GarbageCan|7|3", + "Sink|7|1|0___0", + "Toilet|7|0", + "Faucet|7|1|1" + ] +} \ No newline at end of file diff --git a/train/train105/0/0_depth_npy.npy b/train/train105/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..262e2bbf719c5c66d6e73bdaece8699fa32e954f --- /dev/null +++ b/train/train105/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056c8b059103aef5f3268036e3f7001f17eaeb0900cd5b899e4556fb3004692c +size 3145856 diff --git a/train/train105/0/0_semantic_sensor_npy.npy b/train/train105/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..80f9e5386575862b65cf6568e0fe1b7a7758d56d --- /dev/null +++ b/train/train105/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:843313d15f65a673a62ea7a11135f56de667f841d16e5251b32ecd4e83e035dc +size 2359424 diff --git a/train/train105/0/1.json b/train/train105/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e41c06a45d3771d2a0c1df2805891eb4a0b0c7dd --- /dev/null +++ b/train/train105/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "TVStand|6|2|0___1", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 15.090079307556152, + "y": 0.08259887993335724, + "z": 7.159674167633057 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.9805142879486084, + "objectType": "Shelf", + "objectId": "TVStand|6|2|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.385093688964844, + 0.2924346923828125, + 7.829463958740234 + ], + [ + 15.385093688964844, + 0.2924346923828125, + 6.489884376525879 + ], + [ + 15.385093688964844, + 0.08249694108963013, + 7.829463958740234 + ], + [ + 15.385093688964844, + 0.08249694108963013, + 6.489884376525879 + ], + [ + 14.795064926147461, + 0.2924346923828125, + 7.829463958740234 + ], + [ + 14.795064926147461, + 0.2924346923828125, + 6.489884376525879 + ], + [ + 14.795064926147461, + 0.08249694108963013, + 7.829463958740234 + ], + [ + 14.795064926147461, + 0.08249694108963013, + 6.489884376525879 + ] + ], + "center": { + "x": 15.090079307556152, + "y": 0.1874658167362213, + "z": 7.159674167633057 + }, + "size": { + "x": 0.5900287628173828, + "y": 0.20993775129318237, + "z": 1.3395795822143555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|6", + "object_info": { + "name": "Painting|7|6", + "position": { + "x": 15.429312705993652, + "y": 1.470715045928955, + "z": 5.066211223602295 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.093808174133301, + "objectType": "Painting", + "objectId": "Painting|7|6", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.413336753845215, + 1.7715364694595337, + 5.466405868530273 + ], + [ + 15.413336753845215, + 1.7715364694595337, + 4.669011116027832 + ], + [ + 15.413336753845215, + 1.170153260231018, + 5.466405868530273 + ], + [ + 15.413336753845215, + 1.170153260231018, + 4.669011116027832 + ], + [ + 15.405962944030762, + 1.7715364694595337, + 5.466405868530273 + ], + [ + 15.405962944030762, + 1.7715364694595337, + 4.669011116027832 + ], + [ + 15.405962944030762, + 1.170153260231018, + 5.466405868530273 + ], + [ + 15.405962944030762, + 1.170153260231018, + 4.669011116027832 + ] + ], + "center": { + "x": 15.409649848937988, + "y": 1.4708448648452759, + "z": 5.067708492279053 + }, + "size": { + "x": 0.007373809814453125, + "y": 0.6013832092285156, + "z": 0.7973947525024414 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|6|2|0", + "object_info": { + "name": "TVStand|6|2|0", + "position": { + "x": 15.090079307556152, + "y": 0.0007930994033813477, + "z": 7.159872055053711 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|6|2|1", + "DeskLamp|surface|6|17" + ], + "distance": 3.998279333114624, + "objectType": "TVStand", + "objectId": "TVStand|6|2|0", + "assetId": "TV_Stand_211_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.405999183654785, + 0.5935417413711548, + 7.869783401489258 + ], + [ + 15.405999183654785, + 0.5935417413711548, + 6.449960708618164 + ], + [ + 15.405999183654785, + 2.4437904357910156e-06, + 7.869783401489258 + ], + [ + 15.405999183654785, + 2.4437904357910156e-06, + 6.449960708618164 + ], + [ + 14.77415943145752, + 0.5935417413711548, + 7.869783401489258 + ], + [ + 14.77415943145752, + 0.5935417413711548, + 6.449960708618164 + ], + [ + 14.77415943145752, + 2.4437904357910156e-06, + 7.869783401489258 + ], + [ + 14.77415943145752, + 2.4437904357910156e-06, + 6.449960708618164 + ] + ], + "center": { + "x": 15.090079307556152, + "y": 0.2967720925807953, + "z": 7.159872055053711 + }, + "size": { + "x": 0.6318397521972656, + "y": 0.593539297580719, + "z": 1.4198226928710938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 14.77415943145752, + 2.5033950805664062e-06, + 7.869783401489258 + ], + [ + 14.77415943145752, + 2.5033950805664062e-06, + 6.449960231781006 + ], + [ + 15.405999183654785, + 2.5033950805664062e-06, + 6.449960708618164 + ], + [ + 15.405999183654785, + 2.5033950805664062e-06, + 7.869783878326416 + ], + [ + 14.77415943145752, + 0.5935415029525757, + 7.869783401489258 + ], + [ + 14.77415943145752, + 0.5935415029525757, + 6.449960231781006 + ], + [ + 15.405999183654785, + 0.5935415029525757, + 6.449960708618164 + ], + [ + 15.405999183654785, + 0.5935415029525757, + 7.869783878326416 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 15.091123580932617, + "y": -0.0005980730056762695, + "z": 5.7870001792907715 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.144705057144165, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_Double_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.109865188598633, + 2.099397659301758, + 5.856621265411377 + ], + [ + 15.109865188598633, + 2.099397659301758, + 4.869965076446533 + ], + [ + 15.109865188598633, + 0.0, + 5.856621265411377 + ], + [ + 15.109865188598633, + 0.0, + 4.869965076446533 + ], + [ + 13.10908317565918, + 2.099397659301758, + 5.856621265411377 + ], + [ + 13.10908317565918, + 2.099397659301758, + 4.869965076446533 + ], + [ + 13.10908317565918, + 0.0, + 5.856621265411377 + ], + [ + 13.10908317565918, + 0.0, + 4.869965076446533 + ] + ], + "center": { + "x": 14.109474182128906, + "y": 1.049698829650879, + "z": 5.363293170928955 + }, + "size": { + "x": 2.000782012939453, + "y": 2.099397659301758, + "z": 0.9866561889648438 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|5", + "object_info": { + "name": "Painting|7|5", + "position": { + "x": 14.535189628601074, + "y": 1.7480398416519165, + "z": 3.8629958629608154 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.2381343841552734, + "objectType": "Painting", + "objectId": "Painting|7|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 14.996393203735352, + 2.0713655948638916, + 3.8947410583496094 + ], + [ + 14.996393203735352, + 2.0713655948638916, + 3.86299991607666 + ], + [ + 14.996393203735352, + 1.4247140884399414, + 3.8947410583496094 + ], + [ + 14.996393203735352, + 1.4247140884399414, + 3.86299991607666 + ], + [ + 14.073986053466797, + 2.0713655948638916, + 3.8947410583496094 + ], + [ + 14.073986053466797, + 2.0713655948638916, + 3.86299991607666 + ], + [ + 14.073986053466797, + 1.4247140884399414, + 3.8947410583496094 + ], + [ + 14.073986053466797, + 1.4247140884399414, + 3.86299991607666 + ] + ], + "center": { + "x": 14.535189628601074, + "y": 1.7480398416519165, + "z": 3.8788704872131348 + }, + "size": { + "x": 0.9224071502685547, + "y": 0.6466515064239502, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|6|2|0___0", + "object_info": { + "name": "Shelf (3)", + "position": { + "x": 15.090079307556152, + "y": 0.33361825346946716, + "z": 7.1598711013793945 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.9367222785949707, + "objectType": "Shelf", + "objectId": "TVStand|6|2|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.38509464263916, + 0.5477637052536011, + 7.829660892486572 + ], + [ + 15.38509464263916, + 0.5477637052536011, + 6.490081310272217 + ], + [ + 15.38509464263916, + 0.33351629972457886, + 7.829660892486572 + ], + [ + 15.38509464263916, + 0.33351629972457886, + 6.490081310272217 + ], + [ + 14.795063972473145, + 0.5477637052536011, + 7.829660892486572 + ], + [ + 14.795063972473145, + 0.5477637052536011, + 6.490081310272217 + ], + [ + 14.795063972473145, + 0.33351629972457886, + 7.829660892486572 + ], + [ + 14.795063972473145, + 0.33351629972457886, + 6.490081310272217 + ] + ], + "center": { + "x": 15.090079307556152, + "y": 0.44064000248908997, + "z": 7.1598711013793945 + }, + "size": { + "x": 0.5900306701660156, + "y": 0.21424740552902222, + "z": 1.3395795822143555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|6|2|1", + "object_info": { + "name": "Television|6|2|1", + "position": { + "x": 15.028656959533691, + "y": 1.0805184841156006, + "z": 7.159872055053711 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.859234094619751, + "objectType": "Television", + "objectId": "Television|6|2|1", + "assetId": "Television_29", + "parentReceptacles": [ + "Floor", + "TVStand|6|2|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.32955551147461, + 1.435791254043579, + 7.659872055053711 + ], + [ + 15.32955551147461, + 1.435791254043579, + 6.659872055053711 + ], + [ + 15.32955551147461, + 0.5935423374176025, + 7.659872055053711 + ], + [ + 15.32955551147461, + 0.5935423374176025, + 6.659872055053711 + ], + [ + 14.850597381591797, + 1.435791254043579, + 7.659872055053711 + ], + [ + 14.850597381591797, + 1.435791254043579, + 6.659872055053711 + ], + [ + 14.850597381591797, + 0.5935423374176025, + 7.659872055053711 + ], + [ + 14.850597381591797, + 0.5935423374176025, + 6.659872055053711 + ] + ], + "center": { + "x": 15.090076446533203, + "y": 1.0146667957305908, + "z": 7.159872055053711 + }, + "size": { + "x": 0.4789581298828125, + "y": 0.8422489166259766, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 14.850597381591797, + 0.5935426950454712, + 7.659872055053711 + ], + [ + 14.850597381591797, + 0.5935426950454712, + 6.659872055053711 + ], + [ + 15.329554557800293, + 0.5935426950454712, + 6.659872055053711 + ], + [ + 15.329554557800293, + 0.5935426950454712, + 7.659872055053711 + ], + [ + 14.850597381591797, + 1.4357908964157104, + 7.659872055053711 + ], + [ + 14.850597381591797, + 1.4357908964157104, + 6.659872055053711 + ], + [ + 15.329554557800293, + 1.4357908964157104, + 6.659872055053711 + ], + [ + 15.329554557800293, + 1.4357908964157104, + 7.659872055053711 + ] + ] + } + } + }, + { + "objectId": "Plunger|7|2", + "object_info": { + "name": "Plunger|7|2", + "position": { + "x": 15.331927299499512, + "y": -0.00046309828758239746, + "z": 3.9571478366851807 + }, + "rotation": { + "x": 0.00017118718824349344, + "y": 269.9997253417969, + "z": 0.0008619683794677258 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.986337184906006, + "objectType": "Plunger", + "objectId": "Plunger|7|2", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.406002044677734, + 0.5393394231796265, + 4.031296730041504 + ], + [ + 15.406002044677734, + 0.5393394231796265, + 3.882997512817383 + ], + [ + 15.406002044677734, + -4.470348358154297e-07, + 4.031296730041504 + ], + [ + 15.406002044677734, + -4.470348358154297e-07, + 3.882997512817383 + ], + [ + 15.257993698120117, + 0.5393394231796265, + 4.031296730041504 + ], + [ + 15.257993698120117, + 0.5393394231796265, + 3.882997512817383 + ], + [ + 15.257993698120117, + -4.470348358154297e-07, + 4.031296730041504 + ], + [ + 15.257993698120117, + -4.470348358154297e-07, + 3.882997512817383 + ] + ], + "center": { + "x": 15.331997871398926, + "y": 0.2696695029735565, + "z": 3.9571471214294434 + }, + "size": { + "x": 0.1480083465576172, + "y": 0.5393399000167847, + "z": 0.1482992172241211 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 15.257993698120117, + 1.7588608898222446e-06, + 4.0312957763671875 + ], + [ + 15.257994651794434, + -4.7212233766913414e-07, + 3.8829989433288574 + ], + [ + 15.406001091003418, + -2.991873770952225e-08, + 3.8829996585845947 + ], + [ + 15.406000137329102, + 2.2010644897818565e-06, + 4.031296730041504 + ], + [ + 15.257991790771484, + 0.5393400192260742, + 4.031287670135498 + ], + [ + 15.2579927444458, + 0.5393377542495728, + 3.882990837097168 + ], + [ + 15.405999183654785, + 0.539338231086731, + 3.8829915523529053 + ], + [ + 15.405998229980469, + 0.5393404960632324, + 4.0312886238098145 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 12.5, + "y": 0.9009997844696045, + "z": 4.199999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 12.5, + "y": 1.5759997367858887, + "z": 4.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|6|2|0", + "TVStand|6|2|0___1", + "door|6|7", + "TVStand|6|2|0___0" + ], + "different_object": [ + "Plunger|7|2", + "Television|6|2|1", + "Painting|7|5", + "Painting|7|6" + ] +} \ No newline at end of file diff --git a/train/train105/0/1_depth_npy.npy b/train/train105/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..663ddd4bb1bfb29e317e1a7d6669cbc6068a27cc --- /dev/null +++ b/train/train105/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7de78b3b8fda8928dcf2e25e0957caf49ccad277239b3b9fa3dd866d2f0d502 +size 3145856 diff --git a/train/train105/0/1_semantic_sensor_npy.npy b/train/train105/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..63f8ac57772d004dc5daf09b7169a76e30a3d06d --- /dev/null +++ b/train/train105/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a7c748f35f53bf25120cb84908500de0d3cf2ae4537ef729392b3263b9f5ac3 +size 2359424 diff --git a/train/train105/0/depth_0.png b/train/train105/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cf0eaa7813dafdb826221d60bdfc163b16789312 Binary files /dev/null and b/train/train105/0/depth_0.png differ diff --git a/train/train105/0/depth_1.png b/train/train105/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8a406e610841765a52c91782e80bf0eed655f820 Binary files /dev/null and b/train/train105/0/depth_1.png differ diff --git a/train/train105/0/mask_questions.jsonl b/train/train105/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train105/0/questions_distance.jsonl b/train/train105/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ab4b44b1ece2e137a4194fa1a05c66dbd95ad37 --- /dev/null +++ b/train/train105/0/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 3830, "folder_dir": "train105/0", "query": "Which of the following objects is closest to Doorway in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plunger\nB. Faucet\nC. DishSponge\nD. Other\n", "answer": "C", "src_object": "Doorway", "target_object": "DishSponge", "question": "Which of the following objects is closest to Doorway in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plunger", "semantic_id": "Plunger|7|2", "distance": 2.0199645130115873, "com": {"x": 15.331997871398926, "y": 0.2696695029735565, "z": 3.9571471214294434}}, {"text": "Faucet", "semantic_id": "Faucet|7|1|1", "distance": 1.5620203717830148, "com": {"x": 12.564163208007812, "y": 1.0813746452331543, "z": 5.588943958282471}}, {"text": "DishSponge", "semantic_id": "DishSponge|surface|7|28", "distance": 1.3807004974743815, "com": {"x": 12.761695861816406, "y": 0.980669379234314, "z": 5.654947757720947}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train105/0/rgb_0.png", "image_2": "train105/0/rgb_1.png"} diff --git a/train/train105/0/rgb_0.png b/train/train105/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..bf0b7d8a8625c136c034e7d580e2bb2871e000cf --- /dev/null +++ b/train/train105/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30c84fa6b0f45be5f913dfde533a2775be61352bfd2d2481252efbf22cfeb84b +size 409593 diff --git a/train/train105/0/rgb_1.png b/train/train105/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f6942563cdacd4ea9bb6f81f87ac4e200d459c3e --- /dev/null +++ b/train/train105/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b35a119983ba17d151a6a1a97a0c5dda653cc4b31dd3f5d738970dba59c66fc +size 373729 diff --git a/train/train105/0/semantic_0.png b/train/train105/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..112df932177b3b23885bad6dbe6c10c90e71cb62 Binary files /dev/null and b/train/train105/0/semantic_0.png differ diff --git a/train/train105/0/semantic_1.png b/train/train105/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..be6d81c73f33ce576ae5e37291650993a3095d1b Binary files /dev/null and b/train/train105/0/semantic_1.png differ diff --git a/train/train105/3/0.json b/train/train105/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..ba264b0950021adf81c8b1cc7b83d87f055094ac --- /dev/null +++ b/train/train105/3/0.json @@ -0,0 +1,1154 @@ +{ + "object": [ + { + "objectId": "GarbageCan|7|3", + "object_info": { + "name": "GarbageCan|7|3", + "position": { + "x": 11.455878257751465, + "y": -0.032638370990753174, + "z": 5.573022365570068 + }, + "rotation": { + "x": -0.00035943693364970386, + "y": 180.00018310546875, + "z": -0.0010223278077319264 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "ToiletPaper|surface|7|29" + ], + "distance": 1.9267222881317139, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|3", + "assetId": "bin_17", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.741909980773926, + 0.5611593723297119, + 5.761997222900391 + ], + [ + 11.741909980773926, + 0.5611593723297119, + 5.344573020935059 + ], + [ + 11.741909980773926, + -4.500150680541992e-06, + 5.761997222900391 + ], + [ + 11.741909980773926, + -4.500150680541992e-06, + 5.344573020935059 + ], + [ + 11.173924446105957, + 0.5611593723297119, + 5.761997222900391 + ], + [ + 11.173924446105957, + 0.5611593723297119, + 5.344573020935059 + ], + [ + 11.173924446105957, + -4.500150680541992e-06, + 5.761997222900391 + ], + [ + 11.173924446105957, + -4.500150680541992e-06, + 5.344573020935059 + ] + ], + "center": { + "x": 11.457917213439941, + "y": 0.2805774509906769, + "z": 5.553285121917725 + }, + "size": { + "x": 0.5679855346679688, + "y": 0.5611639022827148, + "z": 0.41742420196533203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 11.173931121826172, + -5.383044481277466e-06, + 5.344572067260742 + ], + [ + 11.741911888122559, + 4.7497451305389404e-06, + 5.344570159912109 + ], + [ + 11.741912841796875, + 2.130866050720215e-06, + 5.761993885040283 + ], + [ + 11.173933029174805, + -8.001923561096191e-06, + 5.761995792388916 + ], + [ + 11.173921585083008, + 0.5611533522605896, + 5.34457540512085 + ], + [ + 11.741901397705078, + 0.5611634850502014, + 5.344573497772217 + ], + [ + 11.741903305053711, + 0.5611608624458313, + 5.761997699737549 + ], + [ + 11.173922538757324, + 0.5611507296562195, + 5.761999607086182 + ] + ] + } + } + }, + { + "objectId": "Candle|surface|7|27", + "object_info": { + "name": "Candle|surface|7|27", + "position": { + "x": 10.127182006835938, + "y": 1.0369980335235596, + "z": 5.551261901855469 + }, + "rotation": { + "x": 0.3769795298576355, + "y": 179.9989471435547, + "z": 0.21385009586811066 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Metal", + "Wax" + ], + "receptacleObjectIds": null, + "distance": 2.709620475769043, + "objectType": "Candle", + "objectId": "Candle|surface|7|27", + "assetId": "RoboTHOR_candle_glittrig_2_v", + "parentReceptacles": [ + "Toilet|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.179916381835938, + 1.368077278137207, + 5.603111743927002 + ], + [ + 10.179916381835938, + 1.368077278137207, + 5.497237682342529 + ], + [ + 10.179916381835938, + 1.0364646911621094, + 5.603111743927002 + ], + [ + 10.179916381835938, + 1.0364646911621094, + 5.497237682342529 + ], + [ + 10.075681686401367, + 1.368077278137207, + 5.603111743927002 + ], + [ + 10.075681686401367, + 1.368077278137207, + 5.497237682342529 + ], + [ + 10.075681686401367, + 1.0364646911621094, + 5.603111743927002 + ], + [ + 10.075681686401367, + 1.0364646911621094, + 5.497237682342529 + ] + ], + "center": { + "x": 10.127799034118652, + "y": 1.2022709846496582, + "z": 5.550174713134766 + }, + "size": { + "x": 0.10423469543457031, + "y": 0.33161258697509766, + "z": 0.10587406158447266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.07568359375, + 1.0368491411209106, + 5.499412536621094 + ], + [ + 10.178682327270508, + 1.0364646911621094, + 5.499416828155518 + ], + [ + 10.178680419921875, + 1.0371469259262085, + 5.603111267089844 + ], + [ + 10.075681686401367, + 1.0375313758850098, + 5.60310697555542 + ], + [ + 10.076916694641113, + 1.3673949241638184, + 5.497237682342529 + ], + [ + 10.179916381835938, + 1.3670103549957275, + 5.497241973876953 + ], + [ + 10.179914474487305, + 1.3676927089691162, + 5.600936412811279 + ], + [ + 10.07691478729248, + 1.3680771589279175, + 5.6009321212768555 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|surface|7|31", + "object_info": { + "name": "SoapBottle|surface|7|31", + "position": { + "x": 9.864891052246094, + "y": 1.0385593175888062, + "z": 5.551272869110107 + }, + "rotation": { + "x": 359.8598937988281, + "y": 270.00115966796875, + "z": 0.1462443321943283 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.9421136379241943, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|7|31", + "assetId": "Soap_Bottle_29", + "parentReceptacles": [ + "Toilet|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.905683517456055, + 1.2984719276428223, + 5.612099647521973 + ], + [ + 9.905683517456055, + 1.2984719276428223, + 5.489777565002441 + ], + [ + 9.905683517456055, + 1.0372653007507324, + 5.612099647521973 + ], + [ + 9.905683517456055, + 1.0372653007507324, + 5.489777565002441 + ], + [ + 9.804269790649414, + 1.2984719276428223, + 5.612099647521973 + ], + [ + 9.804269790649414, + 1.2984719276428223, + 5.489777565002441 + ], + [ + 9.804269790649414, + 1.0372653007507324, + 5.612099647521973 + ], + [ + 9.804269790649414, + 1.0372653007507324, + 5.489777565002441 + ] + ], + "center": { + "x": 9.854976654052734, + "y": 1.1678686141967773, + "z": 5.550938606262207 + }, + "size": { + "x": 0.10141372680664062, + "y": 0.26120662689208984, + "z": 0.12232208251953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.803661346435547, + 1.0377798080444336, + 5.612358093261719 + ], + [ + 9.803658485412598, + 1.0374679565429688, + 5.4901957511901855 + ], + [ + 9.90533447265625, + 1.0372194051742554, + 5.490193843841553 + ], + [ + 9.9053373336792, + 1.0375311374664307, + 5.612356185913086 + ], + [ + 9.804299354553223, + 1.2986862659454346, + 5.611691951751709 + ], + [ + 9.804296493530273, + 1.2983744144439697, + 5.489529609680176 + ], + [ + 9.905972480773926, + 1.2981257438659668, + 5.489527702331543 + ], + [ + 9.905975341796875, + 1.2984375953674316, + 5.611690044403076 + ] + ] + } + } + }, + { + "objectId": "Toilet|7|0", + "object_info": { + "name": "Toilet|7|0", + "position": { + "x": 9.933899879455566, + "y": 0.0017688274383544922, + "z": 5.289541244506836 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|surface|7|27", + "SoapBottle|surface|7|31", + "SprayBottle|surface|7|30", + "SoapBar|surface|7|32" + ], + "distance": 2.911036252975464, + "objectType": "Toilet", + "objectId": "Toilet|7|0", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.198484420776367, + 1.0379130840301514, + 5.762000560760498 + ], + [ + 10.198484420776367, + 1.0379130840301514, + 4.789133548736572 + ], + [ + 10.198484420776367, + 0.0, + 5.762000560760498 + ], + [ + 10.198484420776367, + 0.0, + 4.789133548736572 + ], + [ + 9.669000625610352, + 1.0379130840301514, + 5.762000560760498 + ], + [ + 9.669000625610352, + 1.0379130840301514, + 4.789133548736572 + ], + [ + 9.669000625610352, + 0.0, + 5.762000560760498 + ], + [ + 9.669000625610352, + 0.0, + 4.789133548736572 + ] + ], + "center": { + "x": 9.93374252319336, + "y": 0.5189565420150757, + "z": 5.275567054748535 + }, + "size": { + "x": 0.5294837951660156, + "y": 1.0379130840301514, + "z": 0.9728670120239258 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|4", + "object_info": { + "name": "Painting|7|4", + "position": { + "x": 10.546585083007812, + "y": 1.9680864810943604, + "z": 5.782004356384277 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.702136516571045, + "objectType": "Painting", + "objectId": "Painting|7|4", + "assetId": "Wall_Decor_Painting_3V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.941903114318848, + 2.2661523818969727, + 5.7820000648498535 + ], + [ + 10.941903114318848, + 2.2661523818969727, + 5.750258922576904 + ], + [ + 10.941903114318848, + 1.670020580291748, + 5.7820000648498535 + ], + [ + 10.941903114318848, + 1.670020580291748, + 5.750258922576904 + ], + [ + 10.151267051696777, + 2.2661523818969727, + 5.7820000648498535 + ], + [ + 10.151267051696777, + 2.2661523818969727, + 5.750258922576904 + ], + [ + 10.151267051696777, + 1.670020580291748, + 5.7820000648498535 + ], + [ + 10.151267051696777, + 1.670020580291748, + 5.750258922576904 + ] + ], + "center": { + "x": 10.546585083007812, + "y": 1.9680864810943604, + "z": 5.766129493713379 + }, + "size": { + "x": 0.7906360626220703, + "y": 0.5961318016052246, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|7", + "object_info": { + "name": "Painting|7|7", + "position": { + "x": 10.81564712524414, + "y": 1.4287493228912354, + "z": 3.8629958629608154 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.8070241212844849, + "objectType": "Painting", + "objectId": "Painting|7|7", + "assetId": "Wall_Decor_Photo_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.250496864318848, + 1.7621791362762451, + 3.8947410583496094 + ], + [ + 11.250496864318848, + 1.7621791362762451, + 3.86299991607666 + ], + [ + 11.250496864318848, + 1.0953195095062256, + 3.8947410583496094 + ], + [ + 11.250496864318848, + 1.0953195095062256, + 3.86299991607666 + ], + [ + 10.380797386169434, + 1.7621791362762451, + 3.8947410583496094 + ], + [ + 10.380797386169434, + 1.7621791362762451, + 3.86299991607666 + ], + [ + 10.380797386169434, + 1.0953195095062256, + 3.8947410583496094 + ], + [ + 10.380797386169434, + 1.0953195095062256, + 3.86299991607666 + ] + ], + "center": { + "x": 10.81564712524414, + "y": 1.4287493228912354, + "z": 3.8788704872131348 + }, + "size": { + "x": 0.8696994781494141, + "y": 0.6668596267700195, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SprayBottle|surface|7|30", + "object_info": { + "name": "SprayBottle|surface|7|30", + "position": { + "x": 9.930462837219238, + "y": 1.036885380744934, + "z": 5.581911087036133 + }, + "rotation": { + "x": 0.13588209450244904, + "y": 180.0009002685547, + "z": 0.16547593474388123 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.8974080085754395, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|7|30", + "assetId": "Spray_Bottle_4", + "parentReceptacles": [ + "Toilet|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.947473526000977, + 1.282815933227539, + 5.634254455566406 + ], + [ + 9.947473526000977, + 1.282815933227539, + 5.521514892578125 + ], + [ + 9.947473526000977, + 1.0372140407562256, + 5.634254455566406 + ], + [ + 9.947473526000977, + 1.0372140407562256, + 5.521514892578125 + ], + [ + 9.914037704467773, + 1.282815933227539, + 5.634254455566406 + ], + [ + 9.914037704467773, + 1.282815933227539, + 5.521514892578125 + ], + [ + 9.914037704467773, + 1.0372140407562256, + 5.634254455566406 + ], + [ + 9.914037704467773, + 1.0372140407562256, + 5.521514892578125 + ] + ], + "center": { + "x": 9.930755615234375, + "y": 1.1600149869918823, + "z": 5.577884674072266 + }, + "size": { + "x": 0.033435821533203125, + "y": 0.24560189247131348, + "z": 0.11273956298828125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.91403579711914, + 1.0373090505599976, + 5.521788120269775 + ], + [ + 9.946890830993652, + 1.0372141599655151, + 5.521788120269775 + ], + [ + 9.946892738342285, + 1.0374808311462402, + 5.634253978729248 + ], + [ + 9.914037704467773, + 1.0375757217407227, + 5.634254455566406 + ], + [ + 9.914745330810547, + 1.2828054428100586, + 5.521205902099609 + ], + [ + 9.947599411010742, + 1.2827105522155762, + 5.521205902099609 + ], + [ + 9.947601318359375, + 1.2829773426055908, + 5.633671760559082 + ], + [ + 9.91474723815918, + 1.2830722332000732, + 5.633671760559082 + ] + ] + } + } + }, + { + "objectId": "SoapBar|surface|7|32", + "object_info": { + "name": "SoapBar|surface|7|32", + "position": { + "x": 9.996028900146484, + "y": 1.0377084016799927, + "z": 5.673806190490723 + }, + "rotation": { + "x": 0.24371105432510376, + "y": 180.0014190673828, + "z": -0.0028730544727295637 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Soap" + ], + "receptacleObjectIds": null, + "distance": 2.8837101459503174, + "objectType": "SoapBar", + "objectId": "SoapBar|surface|7|32", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Toilet|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.0233154296875, + 1.062360405921936, + 5.719533443450928 + ], + [ + 10.0233154296875, + 1.062360405921936, + 5.627975940704346 + ], + [ + 10.0233154296875, + 1.037331461906433, + 5.719533443450928 + ], + [ + 10.0233154296875, + 1.037331461906433, + 5.627975940704346 + ], + [ + 9.968740463256836, + 1.062360405921936, + 5.719533443450928 + ], + [ + 9.968740463256836, + 1.062360405921936, + 5.627975940704346 + ], + [ + 9.968740463256836, + 1.037331461906433, + 5.719533443450928 + ], + [ + 9.968740463256836, + 1.037331461906433, + 5.627975940704346 + ] + ], + "center": { + "x": 9.996027946472168, + "y": 1.0498459339141846, + "z": 5.673754692077637 + }, + "size": { + "x": 0.05457496643066406, + "y": 0.02502894401550293, + "z": 0.09155750274658203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.968741416931152, + 1.037331461906433, + 5.628082275390625 + ], + [ + 10.023313522338867, + 1.0373342037200928, + 5.62808084487915 + ], + [ + 10.023316383361816, + 1.037723183631897, + 5.719531536102295 + ], + [ + 9.968744277954102, + 1.0377204418182373, + 5.7195329666137695 + ], + [ + 9.968740463256836, + 1.0619685649871826, + 5.62797737121582 + ], + [ + 10.02331256866455, + 1.0619713068008423, + 5.627975940704346 + ], + [ + 10.023314476013184, + 1.0623602867126465, + 5.719427108764648 + ], + [ + 9.968742370605469, + 1.0623575448989868, + 5.719428062438965 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 12.699999809265137, + "y": 0.9009997844696045, + "z": 4.599999904632568 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.530945155536756e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 12.699999809265137, + "y": 1.5759997367858887, + "z": 4.599999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|7|3", + "Painting|7|7", + "Toilet|7|0" + ], + "different_object": [ + "Painting|7|4", + "Candle|surface|7|27", + "SoapBar|surface|7|32", + "SoapBottle|surface|7|31", + "SprayBottle|surface|7|30" + ] +} \ No newline at end of file diff --git a/train/train105/3/0_depth_npy.npy b/train/train105/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b99300bc346b0d3c05528433ec12af1e3ac54b8b --- /dev/null +++ b/train/train105/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:653c48f0bd50a030109aae28af2b407d2462a0e65f7df8128e946463787e0f2a +size 3145856 diff --git a/train/train105/3/0_semantic_sensor_npy.npy b/train/train105/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e8ae04c0530f79236107c7389c102b3020d4e326 --- /dev/null +++ b/train/train105/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e4802a4b65ea413148867cbfa67354b4557682f016f5badcd6377363ed4d142 +size 2359424 diff --git a/train/train105/3/1.json b/train/train105/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..181bc479b2e99ff2e3ec6d9c72b862099cd9f6bb --- /dev/null +++ b/train/train105/3/1.json @@ -0,0 +1,751 @@ +{ + "object": [ + { + "objectId": "Sink|7|1|0", + "object_info": { + "name": "Sink|7|1|0", + "position": { + "x": 12.564163208007812, + "y": 0.0, + "z": 5.516123294830322 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|7|1|1", + "DishSponge|surface|7|28" + ], + "distance": 1.5553089380264282, + "objectType": "Sink", + "objectId": "Sink|7|1|0", + "assetId": "Sink_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.925509452819824, + 0.9760851860046387, + 5.76200008392334 + ], + [ + 12.925509452819824, + 0.9760851860046387, + 5.205995559692383 + ], + [ + 12.925509452819824, + 0.0, + 5.76200008392334 + ], + [ + 12.925509452819824, + 0.0, + 5.205995559692383 + ], + [ + 12.2028169631958, + 0.9760851860046387, + 5.76200008392334 + ], + [ + 12.2028169631958, + 0.9760851860046387, + 5.205995559692383 + ], + [ + 12.2028169631958, + 0.0, + 5.76200008392334 + ], + [ + 12.2028169631958, + 0.0, + 5.205995559692383 + ] + ], + "center": { + "x": 12.564163208007812, + "y": 0.48804259300231934, + "z": 5.483997821807861 + }, + "size": { + "x": 0.7226924896240234, + "y": 0.9760851860046387, + "z": 0.556004524230957 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|7|3", + "object_info": { + "name": "GarbageCan|7|3", + "position": { + "x": 11.455878257751465, + "y": -0.032638370990753174, + "z": 5.573022365570068 + }, + "rotation": { + "x": -0.00035943693364970386, + "y": 180.00018310546875, + "z": -0.0010223278077319264 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "ToiletPaper|surface|7|29" + ], + "distance": 1.9267222881317139, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|3", + "assetId": "bin_17", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.741909980773926, + 0.5611593723297119, + 5.761997222900391 + ], + [ + 11.741909980773926, + 0.5611593723297119, + 5.344573020935059 + ], + [ + 11.741909980773926, + -4.500150680541992e-06, + 5.761997222900391 + ], + [ + 11.741909980773926, + -4.500150680541992e-06, + 5.344573020935059 + ], + [ + 11.173924446105957, + 0.5611593723297119, + 5.761997222900391 + ], + [ + 11.173924446105957, + 0.5611593723297119, + 5.344573020935059 + ], + [ + 11.173924446105957, + -4.500150680541992e-06, + 5.761997222900391 + ], + [ + 11.173924446105957, + -4.500150680541992e-06, + 5.344573020935059 + ] + ], + "center": { + "x": 11.457917213439941, + "y": 0.2805774509906769, + "z": 5.553285121917725 + }, + "size": { + "x": 0.5679855346679688, + "y": 0.5611639022827148, + "z": 0.41742420196533203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 11.173931121826172, + -5.383044481277466e-06, + 5.344572067260742 + ], + [ + 11.741911888122559, + 4.7497451305389404e-06, + 5.344570159912109 + ], + [ + 11.741912841796875, + 2.130866050720215e-06, + 5.761993885040283 + ], + [ + 11.173933029174805, + -8.001923561096191e-06, + 5.761995792388916 + ], + [ + 11.173921585083008, + 0.5611533522605896, + 5.34457540512085 + ], + [ + 11.741901397705078, + 0.5611634850502014, + 5.344573497772217 + ], + [ + 11.741903305053711, + 0.5611608624458313, + 5.761997699737549 + ], + [ + 11.173922538757324, + 0.5611507296562195, + 5.761999607086182 + ] + ] + } + } + }, + { + "objectId": "Sink|7|1|0___0", + "object_info": { + "name": "SinkBasin", + "position": { + "x": 12.58016300201416, + "y": 0.9053000211715698, + "z": 5.459423065185547 + }, + "rotation": { + "x": 1.4033418253411173e-14, + "y": 179.99984741210938, + "z": -1.900357716524003e-23 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.212084412574768, + "objectType": "SinkBasin", + "objectId": "Sink|7|1|0___0", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.877931594848633, + 1.033769130706787, + 5.57139778137207 + ], + [ + 12.877931594848633, + 1.033769130706787, + 5.248729705810547 + ], + [ + 12.877931594848633, + 0.8870009183883667, + 5.57139778137207 + ], + [ + 12.877931594848633, + 0.8870009183883667, + 5.248729705810547 + ], + [ + 12.25039291381836, + 1.033769130706787, + 5.57139778137207 + ], + [ + 12.25039291381836, + 1.033769130706787, + 5.248729705810547 + ], + [ + 12.25039291381836, + 0.8870009183883667, + 5.57139778137207 + ], + [ + 12.25039291381836, + 0.8870009183883667, + 5.248729705810547 + ] + ], + "center": { + "x": 12.564162254333496, + "y": 0.9603850245475769, + "z": 5.410063743591309 + }, + "size": { + "x": 0.6275386810302734, + "y": 0.1467682123184204, + "z": 0.32266807556152344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|7|0", + "object_info": { + "name": "Toilet|7|0", + "position": { + "x": 9.933899879455566, + "y": 0.0017688274383544922, + "z": 5.289541244506836 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|surface|7|27", + "SoapBottle|surface|7|31", + "SprayBottle|surface|7|30", + "SoapBar|surface|7|32" + ], + "distance": 2.911036252975464, + "objectType": "Toilet", + "objectId": "Toilet|7|0", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.198484420776367, + 1.0379130840301514, + 5.762000560760498 + ], + [ + 10.198484420776367, + 1.0379130840301514, + 4.789133548736572 + ], + [ + 10.198484420776367, + 0.0, + 5.762000560760498 + ], + [ + 10.198484420776367, + 0.0, + 4.789133548736572 + ], + [ + 9.669000625610352, + 1.0379130840301514, + 5.762000560760498 + ], + [ + 9.669000625610352, + 1.0379130840301514, + 4.789133548736572 + ], + [ + 9.669000625610352, + 0.0, + 5.762000560760498 + ], + [ + 9.669000625610352, + 0.0, + 4.789133548736572 + ] + ], + "center": { + "x": 9.93374252319336, + "y": 0.5189565420150757, + "z": 5.275567054748535 + }, + "size": { + "x": 0.5294837951660156, + "y": 1.0379130840301514, + "z": 0.9728670120239258 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|7", + "object_info": { + "name": "Painting|7|7", + "position": { + "x": 10.81564712524414, + "y": 1.4287493228912354, + "z": 3.8629958629608154 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.8070241212844849, + "objectType": "Painting", + "objectId": "Painting|7|7", + "assetId": "Wall_Decor_Photo_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.250496864318848, + 1.7621791362762451, + 3.8947410583496094 + ], + [ + 11.250496864318848, + 1.7621791362762451, + 3.86299991607666 + ], + [ + 11.250496864318848, + 1.0953195095062256, + 3.8947410583496094 + ], + [ + 11.250496864318848, + 1.0953195095062256, + 3.86299991607666 + ], + [ + 10.380797386169434, + 1.7621791362762451, + 3.8947410583496094 + ], + [ + 10.380797386169434, + 1.7621791362762451, + 3.86299991607666 + ], + [ + 10.380797386169434, + 1.0953195095062256, + 3.8947410583496094 + ], + [ + 10.380797386169434, + 1.0953195095062256, + 3.86299991607666 + ] + ], + "center": { + "x": 10.81564712524414, + "y": 1.4287493228912354, + "z": 3.8788704872131348 + }, + "size": { + "x": 0.8696994781494141, + "y": 0.6668596267700195, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 15.091123580932617, + "y": -0.0005980730056762695, + "z": 5.7870001792907715 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.144705057144165, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_Double_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 15.109865188598633, + 2.099397659301758, + 5.856621265411377 + ], + [ + 15.109865188598633, + 2.099397659301758, + 4.869965076446533 + ], + [ + 15.109865188598633, + 0.0, + 5.856621265411377 + ], + [ + 15.109865188598633, + 0.0, + 4.869965076446533 + ], + [ + 13.10908317565918, + 2.099397659301758, + 5.856621265411377 + ], + [ + 13.10908317565918, + 2.099397659301758, + 4.869965076446533 + ], + [ + 13.10908317565918, + 0.0, + 5.856621265411377 + ], + [ + 13.10908317565918, + 0.0, + 4.869965076446533 + ] + ], + "center": { + "x": 14.109474182128906, + "y": 1.049698829650879, + "z": 5.363293170928955 + }, + "size": { + "x": 2.000782012939453, + "y": 2.099397659301758, + "z": 0.9866561889648438 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 12.800000190734863, + "y": 0.9009997844696045, + "z": 4.599999904632568 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 12.800000190734863, + "y": 1.5759997367858887, + "z": 4.599999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|7|3", + "Painting|7|7", + "Toilet|7|0" + ], + "different_object": [ + "door|6|7", + "Sink|7|1|0___0", + "Sink|7|1|0" + ] +} \ No newline at end of file diff --git a/train/train105/3/1_depth_npy.npy b/train/train105/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5fc7bbe26d5427062b4f84fe93ee354fd80c1119 --- /dev/null +++ b/train/train105/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7307d1347d33f362748b79ca86d36085a9dacc4beced95a861a0fb7e175b142a +size 3145856 diff --git a/train/train105/3/1_semantic_sensor_npy.npy b/train/train105/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..227bfc2e95faab82d9eefc11e3772251386b7d5d --- /dev/null +++ b/train/train105/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:352cc498f743d0ab481373c1b71f02252a070d82a7c3f96d695e192fc208a4e5 +size 2359424 diff --git a/train/train105/3/depth_0.png b/train/train105/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7bd2c84e6c3a3630531a639fb2a5e3dc00009d73 Binary files /dev/null and b/train/train105/3/depth_0.png differ diff --git a/train/train105/3/depth_1.png b/train/train105/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..08a1b2ff7a39bafce036d05296eee06b49a493b8 Binary files /dev/null and b/train/train105/3/depth_1.png differ diff --git a/train/train105/3/mask_questions.jsonl b/train/train105/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cacc2070749db0ff24cd874cc1e6382666fc559a --- /dev/null +++ b/train/train105/3/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 9382, "folder_dir": "train105/3", "pair_name": "0-1:GarbageCan|7|3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. SoapBar\nC. GarbageCan\nD. SprayBottle", "answer": "C", "object_name": "GarbageCan", "image_1": "train105/3/rgb_0.png", "image_2": "train105/3/rgb_1.png", "mask_image": "train105/3/rgb_1_mask_GarbageCan|7|3.png", "options": ["Painting", "SoapBar", "GarbageCan", "SprayBottle"]} +{"id": 9383, "folder_dir": "train105/3", "pair_name": "0-1:Toilet|7|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. SoapBar\nC. Toilet\nD. SoapBottle", "answer": "C", "object_name": "Toilet", "image_1": "train105/3/rgb_0.png", "image_2": "train105/3/rgb_1.png", "mask_image": "train105/3/rgb_1_mask_Toilet|7|0.png", "options": ["GarbageCan", "SoapBar", "Toilet", "SoapBottle"]} +{"id": 9384, "folder_dir": "train105/3", "pair_name": "1-0:GarbageCan|7|3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. SinkBasin\nC. Doorway\nD. Painting", "answer": "A", "object_name": "GarbageCan", "image_1": "train105/3/rgb_1.png", "image_2": "train105/3/rgb_0.png", "mask_image": "train105/3/rgb_0_mask_GarbageCan|7|3.png", "options": ["GarbageCan", "SinkBasin", "Doorway", "Painting"]} diff --git a/train/train105/3/questions_direction.jsonl b/train/train105/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44114a89b82c0c507a314975f2aab7c3fe39c199 --- /dev/null +++ b/train/train105/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 15206, "folder_dir": "train105/3", "pair_name": "Candle-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Candle. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Candle", "tgt_object": "Doorway", "src_com": {"x": 10.127799034118652, "y": 1.2022709846496582, "z": 5.550174713134766}, "tgt_com": {"x": 14.109474182128906, "y": 1.049698829650879, "z": 5.363293170928955}, "agent_pos": {"x": 12.699999809265137, "y": 1.5759997367858887, "z": 4.599999904632568}, "image_1": "train105/3/rgb_0.png", "image_2": "train105/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15207, "folder_dir": "train105/3", "pair_name": "SoapBottle-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SoapBottle", "tgt_object": "Doorway", "src_com": {"x": 9.854976654052734, "y": 1.1678686141967773, "z": 5.550938606262207}, "tgt_com": {"x": 14.109474182128906, "y": 1.049698829650879, "z": 5.363293170928955}, "agent_pos": {"x": 12.699999809265137, "y": 1.5759997367858887, "z": 4.599999904632568}, "image_1": "train105/3/rgb_0.png", "image_2": "train105/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15208, "folder_dir": "train105/3", "pair_name": "SprayBottle-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SprayBottle. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SprayBottle", "tgt_object": "Doorway", "src_com": {"x": 9.930755615234375, "y": 1.1600149869918823, "z": 5.577884674072266}, "tgt_com": {"x": 14.109474182128906, "y": 1.049698829650879, "z": 5.363293170928955}, "agent_pos": {"x": 12.699999809265137, "y": 1.5759997367858887, "z": 4.599999904632568}, "image_1": "train105/3/rgb_0.png", "image_2": "train105/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15209, "folder_dir": "train105/3", "pair_name": "Doorway-Candle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of Candle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "Candle", "src_com": {"x": 14.109474182128906, "y": 1.049698829650879, "z": 5.363293170928955}, "tgt_com": {"x": 10.127799034118652, "y": 1.2022709846496582, "z": 5.550174713134766}, "agent_pos": {"x": 12.800000190734863, "y": 1.5759997367858887, "z": 4.599999904632568}, "image_1": "train105/3/rgb_1.png", "image_2": "train105/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15210, "folder_dir": "train105/3", "pair_name": "Doorway-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "SoapBottle", "src_com": {"x": 14.109474182128906, "y": 1.049698829650879, "z": 5.363293170928955}, "tgt_com": {"x": 9.854976654052734, "y": 1.1678686141967773, "z": 5.550938606262207}, "agent_pos": {"x": 12.800000190734863, "y": 1.5759997367858887, "z": 4.599999904632568}, "image_1": "train105/3/rgb_1.png", "image_2": "train105/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15211, "folder_dir": "train105/3", "pair_name": "Doorway-SprayBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of SprayBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "SprayBottle", "src_com": {"x": 14.109474182128906, "y": 1.049698829650879, "z": 5.363293170928955}, "tgt_com": {"x": 9.930755615234375, "y": 1.1600149869918823, "z": 5.577884674072266}, "agent_pos": {"x": 12.800000190734863, "y": 1.5759997367858887, "z": 4.599999904632568}, "image_1": "train105/3/rgb_1.png", "image_2": "train105/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train105/3/questions_distance.jsonl b/train/train105/3/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abb67ba12d070ed249f7ed5df9e34c2d62fc0ec4 --- /dev/null +++ b/train/train105/3/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 3828, "folder_dir": "train105/3", "query": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toilet\nB. Candle\nC. SoapBar\nD. Other\n", "answer": "A", "src_object": "GarbageCan", "target_object": "Toilet", "question": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Toilet", "semantic_id": "Toilet|7|0", "distance": 1.5675013244836744, "com": {"x": 9.93374252319336, "y": 0.5189565420150757, "z": 5.275567054748535}}, {"text": "Candle", "semantic_id": "Candle|surface|7|27", "distance": 1.61825307526127, "com": {"x": 10.127799034118652, "y": 1.2022709846496582, "z": 5.550174713134766}}, {"text": "SoapBar", "semantic_id": "SoapBar|surface|7|32", "distance": 1.656323381779513, "com": {"x": 9.996027946472168, "y": 1.0498459339141846, "z": 5.673754692077637}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train105/3/rgb_0.png", "image_2": "train105/3/rgb_1.png"} +{"id": 3829, "folder_dir": "train105/3", "query": "Which of the following objects is closest to Toilet in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SoapBottle\nB. SoapBar\nC. SprayBottle\nD. Other\n", "answer": "B", "src_object": "Toilet", "target_object": "SoapBar", "question": "Which of the following objects is closest to Toilet in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "SoapBottle", "semantic_id": "SoapBottle|surface|7|31", "distance": 0.7093098271895539, "com": {"x": 9.854976654052734, "y": 1.1678686141967773, "z": 5.550938606262207}}, {"text": "SoapBar", "semantic_id": "SoapBar|surface|7|32", "distance": 0.6665406325992123, "com": {"x": 9.996027946472168, "y": 1.0498459339141846, "z": 5.673754692077637}}, {"text": "SprayBottle", "semantic_id": "SprayBottle|surface|7|30", "distance": 0.7087741491115522, "com": {"x": 9.930755615234375, "y": 1.1600149869918823, "z": 5.577884674072266}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train105/3/rgb_0.png", "image_2": "train105/3/rgb_1.png"} diff --git a/train/train105/3/rgb_0.png b/train/train105/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..46b50d70216b89acff4a9abc0ff39a1352c0d833 --- /dev/null +++ b/train/train105/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e1824f0d5d4c12e64529f29166b2d913576d42bfb1f88df09ececf82e9ef839 +size 294757 diff --git a/train/train105/3/rgb_0_mask_GarbageCan|7|3.png b/train/train105/3/rgb_0_mask_GarbageCan|7|3.png new file mode 100644 index 0000000000000000000000000000000000000000..a13a98cd36801b7409e31bb06d471d941b9571cb --- /dev/null +++ b/train/train105/3/rgb_0_mask_GarbageCan|7|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68d7bedc8a58372a9b451e496f6ccf1df886c48a58a3c8e2b1c50038403d8d50 +size 245505 diff --git a/train/train105/3/rgb_1.png b/train/train105/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c1f7ae909ca54f119c9de35b9cff742b2e85fb35 --- /dev/null +++ b/train/train105/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6c7a2f9f0b25441f248ac6b92929c6457779563208e2fc155e87ccae8f955ca +size 356264 diff --git a/train/train105/3/rgb_1_mask_GarbageCan|7|3.png b/train/train105/3/rgb_1_mask_GarbageCan|7|3.png new file mode 100644 index 0000000000000000000000000000000000000000..cf828a6b8703b5707a9340b69b0a43fed952a482 --- /dev/null +++ b/train/train105/3/rgb_1_mask_GarbageCan|7|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d825811faf7e57592fb5a3014dcceeaa33d1b04106be07422c57eea48b12675c +size 294446 diff --git a/train/train105/3/rgb_1_mask_Toilet|7|0.png b/train/train105/3/rgb_1_mask_Toilet|7|0.png new file mode 100644 index 0000000000000000000000000000000000000000..abe258f82ef1c3a3e588a62f5572266e859c9c8e --- /dev/null +++ b/train/train105/3/rgb_1_mask_Toilet|7|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4754e00d87584b21b11f524c6060d7507d5fe84da4056244e180c976e1fd469c +size 285111 diff --git a/train/train105/3/semantic_0.png b/train/train105/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8438d8ac1aa26a95353be505554d8f9c3b71fea8 Binary files /dev/null and b/train/train105/3/semantic_0.png differ diff --git a/train/train105/3/semantic_1.png b/train/train105/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b0c1b5dd6b1924f767885039d7af57d6a9f60899 Binary files /dev/null and b/train/train105/3/semantic_1.png differ diff --git a/train/train105/color_to_object_id.json b/train/train105/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..15a03da734df4092c8799c6bf4b18081a7c88c6d --- /dev/null +++ b/train/train105/color_to_object_id.json @@ -0,0 +1,2368 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|4|0": [ + 148, + 40, + 210 + ] + }, + { + "window|9|0": [ + 94, + 56, + 239 + ] + }, + { + "door|1|8": [ + 196, + 117, + 120 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|4|6": [ + 88, + 85, + 16 + ] + }, + { + "door|4|8": [ + 34, + 34, + 220 + ] + }, + { + "door|8|9": [ + 86, + 210, + 209 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|6|7": [ + 203, + 131, + 110 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "Painting|6|4": [ + 14, + 140, + 224 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|7|7": [ + 191, + 175, + 252 + ] + }, + { + "Painting|7|6": [ + 172, + 235, + 250 + ] + }, + { + "Painting|7|5": [ + 204, + 249, + 219 + ] + }, + { + "Painting|7|4": [ + 153, + 5, + 3 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Painting|5|4": [ + 172, + 63, + 26 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|4|3": [ + 109, + 88, + 66 + ] + }, + { + "Painting|9|5": [ + 167, + 93, + 31 + ] + }, + { + "Painting|9|4": [ + 243, + 118, + 231 + ] + }, + { + "Painting|8|7": [ + 188, + 189, + 223 + ] + }, + { + "Painting|8|6": [ + 5, + 22, + 151 + ] + }, + { + "Painting|8|5": [ + 81, + 44, + 145 + ] + }, + { + "Television|8|4": [ + 101, + 148, + 207 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "CreditCard|surface|9|65": [ + 143, + 90, + 1 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Watch|surface|9|64": [ + 112, + 177, + 166 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Candle|surface|9|61": [ + 249, + 235, + 175 + ] + }, + { + "Candle": [ + 233, + 102, + 178 + ] + }, + { + "Bowl|surface|9|60": [ + 255, + 56, + 56 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "Newspaper|surface|9|56": [ + 131, + 191, + 123 + ] + }, + { + "Newspaper": [ + 19, + 196, + 2 + ] + }, + { + "Dresser|9|3___7": [ + 160, + 63, + 170 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|9|3___6": [ + 234, + 23, + 91 + ] + }, + { + "Dresser|9|3___5": [ + 149, + 9, + 81 + ] + }, + { + "Dresser|9|3___4": [ + 28, + 238, + 222 + ] + }, + { + "Dresser|9|3___3": [ + 61, + 150, + 72 + ] + }, + { + "Dresser|9|3___2": [ + 50, + 145, + 121 + ] + }, + { + "Dresser|9|3___1": [ + 62, + 78, + 224 + ] + }, + { + "Dresser|9|3___0": [ + 178, + 213, + 97 + ] + }, + { + "Dresser|9|3": [ + 152, + 211, + 37 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "GarbageCan|9|2": [ + 181, + 146, + 238 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "HousePlant|surface|9|58": [ + 189, + 126, + 81 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CellPhone|surface|9|57": [ + 162, + 224, + 222 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "DiningTable|9|1": [ + 114, + 210, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Sofa|9|0|1": [ + 122, + 149, + 7 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "Candle|surface|9|66": [ + 234, + 84, + 221 + ] + }, + { + "Plate|surface|9|63": [ + 241, + 30, + 149 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "Pencil|surface|9|62": [ + 211, + 146, + 243 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "TissueBox|surface|9|59": [ + 139, + 227, + 178 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "Television|9|0|2": [ + 151, + 189, + 130 + ] + }, + { + "TVStand|9|0|0___1": [ + 70, + 96, + 137 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "TVStand|9|0|0___0": [ + 190, + 117, + 177 + ] + }, + { + "TVStand|9|0|0": [ + 204, + 244, + 215 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "HousePlant|8|3|0": [ + 72, + 254, + 152 + ] + }, + { + "Chair|8|2|2": [ + 147, + 86, + 222 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Chair|8|2|1": [ + 193, + 37, + 161 + ] + }, + { + "Bottle|surface|8|53": [ + 205, + 87, + 169 + ] + }, + { + "Bottle": [ + 64, + 80, + 115 + ] + }, + { + "ButterKnife|surface|8|52": [ + 88, + 55, + 195 + ] + }, + { + "ButterKnife": [ + 135, + 147, + 55 + ] + }, + { + "Plate|surface|8|47": [ + 108, + 69, + 143 + ] + }, + { + "SprayBottle|surface|8|45": [ + 168, + 89, + 181 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "Cup|surface|8|44": [ + 141, + 13, + 181 + ] + }, + { + "Cup": [ + 35, + 71, + 130 + ] + }, + { + "DiningTable|8|2|0": [ + 109, + 18, + 253 + ] + }, + { + "Egg|surface|8|41": [ + 125, + 118, + 185 + ] + }, + { + "Egg": [ + 240, + 75, + 163 + ] + }, + { + "Egg|surface|8|40": [ + 40, + 166, + 198 + ] + }, + { + "Egg|surface|8|39": [ + 185, + 251, + 0 + ] + }, + { + "Fridge|8|1": [ + 88, + 165, + 141 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Bowl|surface|8|55": [ + 70, + 126, + 141 + ] + }, + { + "ButterKnife|surface|8|54": [ + 234, + 82, + 182 + ] + }, + { + "Bottle|surface|8|51": [ + 108, + 47, + 102 + ] + }, + { + "Bread|surface|8|50": [ + 152, + 212, + 162 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "PaperTowelRoll|surface|8|49": [ + 159, + 192, + 216 + ] + }, + { + "PaperTowelRoll": [ + 144, + 173, + 28 + ] + }, + { + "SoapBottle|surface|8|48": [ + 7, + 213, + 54 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Tomato|surface|8|46": [ + 8, + 186, + 141 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "DishSponge|surface|8|43": [ + 12, + 134, + 106 + ] + }, + { + "DishSponge": [ + 166, + 58, + 136 + ] + }, + { + "Cup|surface|8|42": [ + 237, + 190, + 110 + ] + }, + { + "Spatula|surface|8|38": [ + 233, + 101, + 171 + ] + }, + { + "Spatula": [ + 30, + 98, + 242 + ] + }, + { + "Toaster|surface|8|37": [ + 22, + 214, + 93 + ] + }, + { + "Toaster": [ + 55, + 33, + 114 + ] + }, + { + "Pen|surface|8|36": [ + 82, + 19, + 78 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Pot|surface|8|35": [ + 2, + 198, + 29 + ] + }, + { + "Pot": [ + 132, + 237, + 87 + ] + }, + { + "Mug|surface|8|34": [ + 33, + 115, + 184 + ] + }, + { + "Mug": [ + 8, + 94, + 186 + ] + }, + { + "SaltShaker|surface|8|33": [ + 148, + 189, + 207 + ] + }, + { + "SaltShaker": [ + 36, + 222, + 26 + ] + }, + { + "CounterTop|8|0": [ + 179, + 91, + 55 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "ToiletPaper|surface|7|29": [ + 177, + 234, + 149 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "GarbageCan|7|3": [ + 10, + 148, + 150 + ] + }, + { + "Plunger|7|2": [ + 253, + 212, + 56 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "DishSponge|surface|7|28": [ + 249, + 84, + 184 + ] + }, + { + "Faucet|7|1|1": [ + 166, + 102, + 185 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|7|1|0___0": [ + 107, + 72, + 90 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|7|1|0": [ + 3, + 187, + 195 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SoapBar|surface|7|32": [ + 253, + 156, + 55 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "SoapBottle|surface|7|31": [ + 80, + 237, + 16 + ] + }, + { + "SprayBottle|surface|7|30": [ + 197, + 30, + 3 + ] + }, + { + "Candle|surface|7|27": [ + 71, + 88, + 95 + ] + }, + { + "Toilet|7|0": [ + 145, + 251, + 20 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "Box|6|3": [ + 162, + 200, + 75 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "DeskLamp|surface|6|17": [ + 238, + 160, + 59 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Television|6|2|1": [ + 238, + 75, + 175 + ] + }, + { + "TVStand|6|2|0___1": [ + 136, + 27, + 94 + ] + }, + { + "TVStand|6|2|0___0": [ + 227, + 226, + 0 + ] + }, + { + "TVStand|6|2|0": [ + 201, + 172, + 123 + ] + }, + { + "Vase|surface|6|26": [ + 122, + 17, + 201 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Statue|surface|6|24": [ + 220, + 142, + 179 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "Book|surface|6|23": [ + 18, + 126, + 197 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "CellPhone|surface|6|22": [ + 78, + 84, + 92 + ] + }, + { + "TissueBox|surface|6|21": [ + 83, + 235, + 96 + ] + }, + { + "RemoteControl|surface|6|20": [ + 36, + 209, + 72 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "CreditCard|surface|6|19": [ + 89, + 234, + 150 + ] + }, + { + "BasketBall|surface|6|15": [ + 40, + 3, + 189 + ] + }, + { + "BasketBall": [ + 97, + 58, + 36 + ] + }, + { + "Dresser|6|1___9": [ + 40, + 39, + 29 + ] + }, + { + "Dresser|6|1___8": [ + 167, + 13, + 64 + ] + }, + { + "Dresser|6|1___7": [ + 86, + 58, + 190 + ] + }, + { + "Dresser|6|1___6": [ + 170, + 115, + 145 + ] + }, + { + "Dresser|6|1___5": [ + 236, + 75, + 198 + ] + }, + { + "Dresser|6|1___4": [ + 14, + 116, + 187 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Laptop|surface|6|25": [ + 99, + 113, + 52 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "TeddyBear|surface|6|18": [ + 198, + 244, + 81 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "AlarmClock|surface|6|16": [ + 40, + 115, + 193 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "RemoteControl|surface|6|14": [ + 140, + 239, + 235 + ] + }, + { + "BaseballBat|surface|6|13": [ + 136, + 86, + 235 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "Pillow|6|0|1": [ + 251, + 108, + 89 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0|0": [ + 243, + 55, + 136 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "Plunger|5|3": [ + 150, + 121, + 19 + ] + }, + { + "GarbageCan|5|2": [ + 159, + 149, + 169 + ] + }, + { + "Faucet|5|1|1": [ + 65, + 42, + 255 + ] + }, + { + "Sink|5|1|0___0": [ + 245, + 52, + 66 + ] + }, + { + "Sink|5|1|0": [ + 201, + 233, + 65 + ] + }, + { + "ToiletPaper|surface|5|12": [ + 232, + 167, + 166 + ] + }, + { + "SoapBar|surface|5|11": [ + 193, + 67, + 121 + ] + }, + { + "SprayBottle|surface|5|10": [ + 52, + 237, + 226 + ] + }, + { + "Toilet|5|0": [ + 241, + 253, + 188 + ] + }, + { + "FloorLamp|4|2|1": [ + 114, + 125, + 72 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "ArmChair|4|2|0": [ + 193, + 248, + 113 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "Pen|surface|4|7": [ + 113, + 246, + 152 + ] + }, + { + "BasketBall|surface|4|6": [ + 7, + 118, + 248 + ] + }, + { + "Pencil|surface|4|5": [ + 61, + 116, + 250 + ] + }, + { + "RemoteControl|surface|4|4": [ + 214, + 106, + 195 + ] + }, + { + "CD|surface|4|3": [ + 88, + 55, + 207 + ] + }, + { + "CD": [ + 65, + 112, + 172 + ] + }, + { + "Mug|surface|4|2": [ + 226, + 26, + 36 + ] + }, + { + "Book|surface|4|1": [ + 12, + 88, + 8 + ] + }, + { + "Book|surface|4|0": [ + 197, + 176, + 148 + ] + }, + { + "Dresser|4|1___3": [ + 168, + 123, + 185 + ] + }, + { + "Dresser|4|1___2": [ + 211, + 252, + 239 + ] + }, + { + "Dresser|4|1___1": [ + 177, + 160, + 107 + ] + }, + { + "Dresser|4|1___0": [ + 198, + 101, + 243 + ] + }, + { + "Dresser|4|1": [ + 68, + 131, + 140 + ] + }, + { + "Book|surface|4|9": [ + 204, + 1, + 95 + ] + }, + { + "Laptop|surface|4|8": [ + 80, + 77, + 75 + ] + }, + { + "Pillow|4|0|1": [ + 118, + 170, + 200 + ] + }, + { + "Pillow|4|0|2": [ + 69, + 216, + 39 + ] + }, + { + "Bed|4|0|0": [ + 9, + 129, + 64 + ] + }, + { + "Ceiling_room|9|0|3.052838|0": [ + 134, + 251, + 121 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|8|0|3.052838|0": [ + 47, + 152, + 188 + ] + }, + { + "Ceiling_room|7|0|3.052838|0": [ + 221, + 91, + 91 + ] + }, + { + "Ceiling_room|6|0|3.052838|0": [ + 145, + 15, + 44 + ] + }, + { + "Ceiling_room|5|0|3.052838|0": [ + 242, + 96, + 134 + ] + }, + { + "Ceiling_room|4|0|3.052838|0": [ + 251, + 181, + 114 + ] + }, + { + "wall|exterior|13.50|9.64|13.50|13.50": [ + 9, + 59, + 22 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|13.50|9.64|15.43|9.64": [ + 4, + 209, + 119 + ] + }, + { + "wall|exterior|15.43|5.79|15.43|9.64": [ + 173, + 172, + 20 + ] + }, + { + "wall|exterior|11.57|13.50|13.50|13.50": [ + 226, + 96, + 100 + ] + }, + { + "wall|exterior|15.43|3.86|15.43|5.79": [ + 121, + 222, + 151 + ] + }, + { + "wall|exterior|11.57|3.86|15.43|3.86": [ + 246, + 203, + 82 + ] + }, + { + "wall|exterior|5.79|13.50|11.57|13.50": [ + 241, + 120, + 71 + ] + }, + { + "wall|exterior|3.86|1.93|11.57|1.93": [ + 61, + 50, + 167 + ] + }, + { + "wall|exterior|11.57|1.93|11.57|3.86": [ + 110, + 127, + 224 + ] + }, + { + "wall|exterior|0.00|9.64|0.00|13.50": [ + 114, + 46, + 197 + ] + }, + { + "wall|exterior|0.00|13.50|5.79|13.50": [ + 161, + 22, + 245 + ] + }, + { + "wall|exterior|0.00|1.93|3.86|1.93": [ + 198, + 145, + 132 + ] + }, + { + "wall|exterior|0.00|1.93|0.00|9.64": [ + 50, + 162, + 64 + ] + }, + { + "wall|9|0.00|9.64|0.00|13.50": [ + 36, + 81, + 34 + ] + }, + { + "wall|9|0.00|9.64|5.79|9.64": [ + 69, + 42, + 178 + ] + }, + { + "wall|9|5.79|9.64|5.79|13.50": [ + 225, + 199, + 82 + ] + }, + { + "wall|9|0.00|13.50|5.79|13.50": [ + 84, + 48, + 195 + ] + }, + { + "wall|8|0.00|1.93|3.86|1.93": [ + 53, + 234, + 46 + ] + }, + { + "wall|8|3.86|1.93|3.86|5.79": [ + 35, + 165, + 60 + ] + }, + { + "wall|8|3.86|5.79|5.79|5.79": [ + 148, + 161, + 159 + ] + }, + { + "wall|8|5.79|5.79|5.79|9.64": [ + 55, + 178, + 129 + ] + }, + { + "wall|8|0.00|9.64|5.79|9.64": [ + 132, + 62, + 209 + ] + }, + { + "wall|8|0.00|1.93|0.00|9.64": [ + 113, + 129, + 150 + ] + }, + { + "wall|7|9.64|3.86|11.57|3.86": [ + 13, + 162, + 116 + ] + }, + { + "wall|7|11.57|3.86|15.43|3.86": [ + 174, + 137, + 100 + ] + }, + { + "wall|7|15.43|3.86|15.43|5.79": [ + 52, + 53, + 184 + ] + }, + { + "wall|7|9.64|5.79|15.43|5.79": [ + 130, + 143, + 220 + ] + }, + { + "wall|7|9.64|3.86|9.64|5.79": [ + 183, + 141, + 250 + ] + }, + { + "wall|6|9.64|5.79|15.43|5.79": [ + 183, + 195, + 119 + ] + }, + { + "wall|6|15.43|5.79|15.43|9.64": [ + 115, + 148, + 132 + ] + }, + { + "wall|6|13.50|9.64|15.43|9.64": [ + 69, + 56, + 17 + ] + }, + { + "wall|6|13.50|9.64|13.50|13.50": [ + 118, + 8, + 15 + ] + }, + { + "wall|6|11.57|13.50|13.50|13.50": [ + 85, + 212, + 85 + ] + }, + { + "wall|6|11.57|11.57|11.57|13.50": [ + 148, + 207, + 153 + ] + }, + { + "wall|6|9.64|11.57|11.57|11.57": [ + 219, + 241, + 185 + ] + }, + { + "wall|6|9.64|9.64|9.64|11.57": [ + 216, + 87, + 90 + ] + }, + { + "wall|6|9.64|5.79|9.64|9.64": [ + 74, + 129, + 136 + ] + }, + { + "wall|5|5.79|9.64|9.64|9.64": [ + 38, + 118, + 23 + ] + }, + { + "wall|5|9.64|9.64|9.64|11.57": [ + 37, + 157, + 82 + ] + }, + { + "wall|5|9.64|11.57|11.57|11.57": [ + 32, + 66, + 36 + ] + }, + { + "wall|5|11.57|11.57|11.57|13.50": [ + 67, + 237, + 73 + ] + }, + { + "wall|5|5.79|13.50|11.57|13.50": [ + 108, + 241, + 69 + ] + }, + { + "wall|5|5.79|9.64|5.79|13.50": [ + 193, + 69, + 41 + ] + }, + { + "wall|4|3.86|1.93|3.86|5.79": [ + 90, + 114, + 235 + ] + }, + { + "wall|4|3.86|1.93|11.57|1.93": [ + 69, + 201, + 131 + ] + }, + { + "wall|4|11.57|1.93|11.57|3.86": [ + 123, + 241, + 45 + ] + }, + { + "wall|4|9.64|3.86|11.57|3.86": [ + 233, + 228, + 9 + ] + }, + { + "wall|4|9.64|3.86|9.64|5.79": [ + 244, + 223, + 77 + ] + }, + { + "wall|4|9.64|5.79|9.64|9.64": [ + 156, + 101, + 15 + ] + }, + { + "wall|4|5.79|9.64|9.64|9.64": [ + 113, + 76, + 53 + ] + }, + { + "wall|4|5.79|5.79|5.79|9.64": [ + 136, + 136, + 230 + ] + }, + { + "wall|4|3.86|5.79|5.79|5.79": [ + 144, + 253, + 120 + ] + }, + { + "room|9": [ + 153, + 76, + 155 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|8": [ + 95, + 202, + 245 + ] + }, + { + "room|7": [ + 183, + 155, + 144 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train1458/0/0.json b/train/train1458/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7d4adf1a487fc3816bc77089a501ab7db9befd2 --- /dev/null +++ b/train/train1458/0/0.json @@ -0,0 +1,1413 @@ +{ + "object": [ + { + "objectId": "Chair|6|3|1", + "object_info": { + "name": "Chair|6|3|1", + "position": { + "x": 6.781373023986816, + "y": 0.0005902945995330811, + "z": 2.9786036014556885 + }, + "rotation": { + "x": -0.0, + "y": 171.00523376464844, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|6|3|0" + ], + "distance": 1.8704185485839844, + "objectType": "Chair", + "objectId": "Chair|6|3|1", + "assetId": "Chair_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.005563735961914, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 7.005563735961914, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 2.747330665588379 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 2.747330665588379 + ] + ], + "center": { + "x": 6.7748613357543945, + "y": 0.4374740421772003, + "z": 3.003213882446289 + }, + "size": { + "x": 0.46140480041503906, + "y": 0.8749387264251709, + "z": 0.5117664337158203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.601893424987793, + 4.708766937255859e-06, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 4.708766937255859e-06, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 4.708766937255859e-06, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 4.708766937255859e-06, + 3.2015936374664307 + ], + [ + 6.601893424987793, + 0.8749431371688843, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 0.8749431371688843, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 0.8749431371688843, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 0.8749431371688843, + 3.2015936374664307 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|6|1", + "object_info": { + "name": "Vase|surface|6|1", + "position": { + "x": 7.068648338317871, + "y": 0.7408308386802673, + "z": 2.612952709197998 + }, + "rotation": { + "x": 0.019188301637768745, + "y": 180.00320434570312, + "z": 0.014039966277778149 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.246186375617981, + "objectType": "Vase", + "objectId": "Vase|surface|6|1", + "assetId": "Vase_Open_2", + "parentReceptacles": [ + "DiningTable|6|3|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.163296699523926, + 0.9857940673828125, + 2.7075347900390625 + ], + [ + 7.163296699523926, + 0.9857940673828125, + 2.5182886123657227 + ], + [ + 7.163296699523926, + 0.7416925430297852, + 2.7075347900390625 + ], + [ + 7.163296699523926, + 0.7416925430297852, + 2.5182886123657227 + ], + [ + 6.974059104919434, + 0.9857940673828125, + 2.7075347900390625 + ], + [ + 6.974059104919434, + 0.9857940673828125, + 2.5182886123657227 + ], + [ + 6.974059104919434, + 0.7416925430297852, + 2.7075347900390625 + ], + [ + 6.974059104919434, + 0.7416925430297852, + 2.5182886123657227 + ] + ], + "center": { + "x": 7.06867790222168, + "y": 0.8637433052062988, + "z": 2.6129117012023926 + }, + "size": { + "x": 0.1892375946044922, + "y": 0.24410152435302734, + "z": 0.18924617767333984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.974036693572998, + 0.7417077422142029, + 2.5183513164520264 + ], + [ + 7.163249492645264, + 0.7416613698005676, + 2.518340826034546 + ], + [ + 7.163260459899902, + 0.7417247891426086, + 2.7075536251068115 + ], + [ + 6.974047660827637, + 0.7417711615562439, + 2.707564115524292 + ], + [ + 6.974096775054932, + 0.9857537746429443, + 2.5182695388793945 + ], + [ + 7.163309574127197, + 0.9857074022293091, + 2.518259048461914 + ], + [ + 7.163320064544678, + 0.9857707619667053, + 2.7074718475341797 + ], + [ + 6.974107265472412, + 0.9858171343803406, + 2.70748233795166 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|3|0", + "object_info": { + "name": "DiningTable|6|3|0", + "position": { + "x": 6.771223545074463, + "y": -0.00013914704322814941, + "z": 2.5194694995880127 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|0", + "Vase|surface|6|1" + ], + "distance": 1.7525538206100464, + "objectType": "DiningTable", + "objectId": "DiningTable|6|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Chair|6|3|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.372919082641602, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 7.372919082641602, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.1358625888824463 + ] + ], + "center": { + "x": 6.771223068237305, + "y": 0.37085530161857605, + "z": 2.5194694995880127 + }, + "size": { + "x": 1.2033920288085938, + "y": 0.7416954636573792, + "z": 0.7672138214111328 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.903076410293579 + ] + ] + } + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 11.118658065795898, + "y": 0.007478475570678711, + "z": 3.3662993907928467 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|4" + ], + "distance": 3.2052619457244873, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.453998565673828, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 11.453998565673828, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 2.9309935569763184 + ] + ], + "center": { + "x": 11.095033645629883, + "y": 0.909221887588501, + "z": 3.3659963607788086 + }, + "size": { + "x": 0.7179298400878906, + "y": 1.8184428215026855, + "z": 0.8700056076049805 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 4.344852447509766, + "y": -0.018440067768096924, + "z": 6.738438606262207 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Bowl|surface|7|10", + "Laptop|surface|7|9", + "CellPhone|surface|7|7" + ], + "distance": 6.020102024078369, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 4.838703632354736, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 5.848877906799316 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 5.848877906799316 + ] + ], + "center": { + "x": 4.344852447509766, + "y": 0.3391090929508209, + "z": 6.738438606262207 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001024246216, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001024246216, + 0.6782165169715881, + 5.848877906799316 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|5", + "object_info": { + "name": "GarbageBag|6|5", + "position": { + "x": 9.93146800994873, + "y": -0.0016815364360809326, + "z": 2.1855967044830322 + }, + "rotation": { + "x": 0.0427328422665596, + "y": 270.0003967285156, + "z": 0.37392106652259827 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.909532904624939, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|5", + "assetId": "GarbageBag_21_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.189888000488281, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 10.189888000488281, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 1.9386863708496094 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 1.9386863708496094 + ] + ], + "center": { + "x": 9.93228530883789, + "y": 0.27866193652153015, + "z": 2.194065570831299 + }, + "size": { + "x": 0.5152053833007812, + "y": 0.557325541973114, + "z": 0.5107583999633789 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.674802780151367, + 0.0009304089471697807, + 2.450488805770874 + ], + [ + 9.67480182647705, + -0.002402830170467496, + 1.9397449493408203 + ], + [ + 10.190009117126465, + -0.002018573461100459, + 1.9397414922714233 + ], + [ + 10.190010070800781, + 0.0013146656565368176, + 2.4504852294921875 + ], + [ + 9.674386024475098, + 0.558856725692749, + 2.446847677230835 + ], + [ + 9.674385070800781, + 0.5555235147476196, + 1.9361038208007812 + ], + [ + 10.189592361450195, + 0.5559078454971313, + 1.9361002445220947 + ], + [ + 10.189593315124512, + 0.5592410564422607, + 2.4468441009521484 + ] + ] + } + } + }, + { + "objectId": "TVStand|7|2", + "object_info": { + "name": "TVStand|7|2", + "position": { + "x": 4.037482261657715, + "y": 0.0009346157312393188, + "z": 5.073751926422119 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Statue|surface|7|12", + "HousePlant|surface|7|13" + ], + "distance": 5.150630950927734, + "objectType": "TVStand", + "objectId": "TVStand|7|2", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|7|8" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.220876693725586, + 0.45024925470352173, + 5.6926679611206055 + ], + [ + 4.220876693725586, + 0.45024925470352173, + 4.454863548278809 + ], + [ + 4.220876693725586, + 2.384185791015625e-07, + 5.6926679611206055 + ], + [ + 4.220876693725586, + 2.384185791015625e-07, + 4.454863548278809 + ], + [ + 3.8509998321533203, + 0.45024925470352173, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.45024925470352173, + 4.454863548278809 + ], + [ + 3.8509998321533203, + 2.384185791015625e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.384185791015625e-07, + 4.454863548278809 + ] + ], + "center": { + "x": 4.035938262939453, + "y": 0.22512474656105042, + "z": 5.073765754699707 + }, + "size": { + "x": 0.3698768615722656, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.220876216888428, + 2.682209014892578e-07, + 4.454863548278809 + ], + [ + 4.220876216888428, + 2.682209014892578e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.682209014892578e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.682209014892578e-07, + 4.454863548278809 + ], + [ + 4.220876216888428, + 0.4502490758895874, + 4.454863548278809 + ], + [ + 4.220876216888428, + 0.4502490758895874, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.4502490758895874, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.4502490758895874, + 4.454863548278809 + ] + ] + } + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 9.211421012878418, + "y": 0.003310978412628174, + "z": 3.6443896293640137 + }, + "rotation": { + "x": 6.861903239041567e-05, + "y": 341.9659729003906, + "z": -0.0002130199718521908 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 1.9168980121612549, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.32536506652832, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.503091812133789 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.503091812133789 + ] + ], + "center": { + "x": 9.2114839553833, + "y": 0.425205796957016, + "z": 3.6301136016845703 + }, + "size": { + "x": 0.22776222229003906, + "y": 0.850409984588623, + "z": 0.2540435791015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.283507347106934, + -3.1851232051849365e-07, + 3.8010001182556152 + ], + [ + 9.060393333435059, + 5.539041012525558e-07, + 3.7283594608306885 + ], + [ + 9.136246681213379, + 8.472707122564316e-07, + 3.4953770637512207 + ], + [ + 9.359360694885254, + -2.514570951461792e-08, + 3.5680177211761475 + ], + [ + 9.283510208129883, + 0.8504104018211365, + 3.801002025604248 + ], + [ + 9.060396194458008, + 0.8504112362861633, + 3.7283613681793213 + ], + [ + 9.136249542236328, + 0.8504115343093872, + 3.4953789710998535 + ], + [ + 9.359363555908203, + 0.8504106998443604, + 3.5680198669433594 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 6.271206855773926, + "y": 0.0023636221885681152, + "z": 7.296786308288574 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|11" + ], + "distance": 5.49483585357666, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.110105037689209, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 7.110105037689209, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 6.948600769042969 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 6.948600769042969 + ] + ], + "center": { + "x": 6.271206855773926, + "y": 0.44755420088768005, + "z": 7.288280487060547 + }, + "size": { + "x": 1.6777963638305664, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.432308673858643, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 7.627959728240967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.199999809265137, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.199999809265137, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|6|1", + "HousePlant|6|4|0", + "GarbageBag|6|5" + ], + "different_object": [ + "Vase|surface|6|1", + "TVStand|7|2", + "DiningTable|6|3|0", + "DiningTable|7|0", + "Sofa|7|1", + "Chair|6|3|1" + ] +} \ No newline at end of file diff --git a/train/train1458/0/0_depth_npy.npy b/train/train1458/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3b040cf44b966478903d18a84102893ff4ab41e4 --- /dev/null +++ b/train/train1458/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c2c2bdf93333a7b3593c6c3a4772a67f67d4718e3f44ed71713e13db818d7f0 +size 3145856 diff --git a/train/train1458/0/0_semantic_sensor_npy.npy b/train/train1458/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d1a6fbd1df15c30a12da34a16d955bfe5c53f15a --- /dev/null +++ b/train/train1458/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b349a5329111a92100d87f2e23e59bbd4abf009873e89f2a69594484db7fb8b0 +size 2359424 diff --git a/train/train1458/0/1.json b/train/train1458/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1098901720a1aff5904b0a54e6e47e4e853afa --- /dev/null +++ b/train/train1458/0/1.json @@ -0,0 +1,730 @@ +{ + "object": [ + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 11.118658065795898, + "y": 0.007478475570678711, + "z": 3.3662993907928467 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|4" + ], + "distance": 3.2052619457244873, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.453998565673828, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 11.453998565673828, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 2.9309935569763184 + ] + ], + "center": { + "x": 11.095033645629883, + "y": 0.909221887588501, + "z": 3.3659963607788086 + }, + "size": { + "x": 0.7179298400878906, + "y": 1.8184428215026855, + "z": 0.8700056076049805 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|6|2", + "object_info": { + "name": "DishSponge|surface|6|2", + "position": { + "x": 10.538559913635254, + "y": 0.9395574927330017, + "z": 0.41021010279655457 + }, + "rotation": { + "x": -1.1185248922629398e-06, + "y": 0.00020105723524466157, + "z": -0.0005334705929271877 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.936634063720703, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|2", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.575339317321777, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.575339317321777, + 0.9635056853294373, + 0.340736985206604 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.4796832203865051 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.340736985206604 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.340736985206604 + ], + [ + 10.50178050994873, + 0.9374659657478333, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9374659657478333, + 0.340736985206604 + ] + ], + "center": { + "x": 10.538559913635254, + "y": 0.9504858255386353, + "z": 0.41021010279655457 + }, + "size": { + "x": 0.07355880737304688, + "y": 0.026039719581604004, + "z": 0.13894623517990112 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.575339317321777, + 0.9374659657478333, + 0.479682981967926 + ], + [ + 10.50178050994873, + 0.9374666810035706, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9374666810035706, + 0.3407372236251831 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.340736985206604 + ], + [ + 10.575339317321777, + 0.9635049700737, + 0.479682981967926 + ], + [ + 10.501781463623047, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.3407372236251831 + ], + [ + 10.575339317321777, + 0.9635049700737, + 0.340736985206604 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|5", + "object_info": { + "name": "GarbageBag|6|5", + "position": { + "x": 9.93146800994873, + "y": -0.0016815364360809326, + "z": 2.1855967044830322 + }, + "rotation": { + "x": 0.0427328422665596, + "y": 270.0003967285156, + "z": 0.37392106652259827 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.909532904624939, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|5", + "assetId": "GarbageBag_21_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.189888000488281, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 10.189888000488281, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 1.9386863708496094 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 1.9386863708496094 + ] + ], + "center": { + "x": 9.93228530883789, + "y": 0.27866193652153015, + "z": 2.194065570831299 + }, + "size": { + "x": 0.5152053833007812, + "y": 0.557325541973114, + "z": 0.5107583999633789 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.674802780151367, + 0.0009304089471697807, + 2.450488805770874 + ], + [ + 9.67480182647705, + -0.002402830170467496, + 1.9397449493408203 + ], + [ + 10.190009117126465, + -0.002018573461100459, + 1.9397414922714233 + ], + [ + 10.190010070800781, + 0.0013146656565368176, + 2.4504852294921875 + ], + [ + 9.674386024475098, + 0.558856725692749, + 2.446847677230835 + ], + [ + 9.674385070800781, + 0.5555235147476196, + 1.9361038208007812 + ], + [ + 10.189592361450195, + 0.5559078454971313, + 1.9361002445220947 + ], + [ + 10.189593315124512, + 0.5592410564422607, + 2.4468441009521484 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.452964782714844, + "y": 5.960464477539063e-08, + "z": 0.025998950004577637 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|surface|6|3", + "PepperShaker|surface|6|5", + "SaltShaker|surface|6|6", + "DishSponge|surface|6|2" + ], + "distance": 4.002120018005371, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_8x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.454000473022461, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 11.454000473022461, + 0.0, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.0, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.0, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.0, + 0.025000035762786865 + ] + ], + "center": { + "x": 10.234277725219727, + "y": 0.46873319149017334, + "z": 0.3302757441997528 + }, + "size": { + "x": 2.4394454956054688, + "y": 0.9374663829803467, + "z": 0.6105514168739319 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 9.211421012878418, + "y": 0.003310978412628174, + "z": 3.6443896293640137 + }, + "rotation": { + "x": 6.861903239041567e-05, + "y": 341.9659729003906, + "z": -0.0002130199718521908 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 1.9168980121612549, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.32536506652832, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.503091812133789 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.503091812133789 + ] + ], + "center": { + "x": 9.2114839553833, + "y": 0.425205796957016, + "z": 3.6301136016845703 + }, + "size": { + "x": 0.22776222229003906, + "y": 0.850409984588623, + "z": 0.2540435791015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.283507347106934, + -3.1851232051849365e-07, + 3.8010001182556152 + ], + [ + 9.060393333435059, + 5.539041012525558e-07, + 3.7283594608306885 + ], + [ + 9.136246681213379, + 8.472707122564316e-07, + 3.4953770637512207 + ], + [ + 9.359360694885254, + -2.514570951461792e-08, + 3.5680177211761475 + ], + [ + 9.283510208129883, + 0.8504104018211365, + 3.801002025604248 + ], + [ + 9.060396194458008, + 0.8504112362861633, + 3.7283613681793213 + ], + [ + 9.136249542236328, + 0.8504115343093872, + 3.4953789710998535 + ], + [ + 9.359363555908203, + 0.8504106998443604, + 3.5680198669433594 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.199999809265137, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.199999809265137, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|6|1", + "HousePlant|6|4|0", + "GarbageBag|6|5" + ], + "different_object": [ + "DishSponge|surface|6|2", + "CounterTop|6|0" + ] +} \ No newline at end of file diff --git a/train/train1458/0/1_depth_npy.npy b/train/train1458/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..72deaf6eaf93c77ad150f31111bd632b5cdd1207 --- /dev/null +++ b/train/train1458/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc069809f54ddffdde164422588f0817b495d564d532e9223969379a7f3728ef +size 3145856 diff --git a/train/train1458/0/1_semantic_sensor_npy.npy b/train/train1458/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..baf16a49267041a135c3e545cd6c64a8b61dab4d --- /dev/null +++ b/train/train1458/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c7a229b5eb5f661b7b34879eff17babbbabdec554e4413ded133b09e3fcc381 +size 2359424 diff --git a/train/train1458/0/depth_0.png b/train/train1458/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..280b6f4bb3000fdf3ef01001bff7dee089f728ca Binary files /dev/null and b/train/train1458/0/depth_0.png differ diff --git a/train/train1458/0/depth_1.png b/train/train1458/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5339b720e00c64ba29291ac62e62f5e2e6aee38b Binary files /dev/null and b/train/train1458/0/depth_1.png differ diff --git a/train/train1458/0/mask_questions.jsonl b/train/train1458/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96fa260bf487fcc59065510a0caff7c0ff40b2ae --- /dev/null +++ b/train/train1458/0/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 9362, "folder_dir": "train1458/0", "pair_name": "0-1:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Fridge\nC. Sofa\nD. HousePlant", "answer": "B", "object_name": "Fridge", "image_1": "train1458/0/rgb_0.png", "image_2": "train1458/0/rgb_1.png", "mask_image": "train1458/0/rgb_1_mask_Fridge|6|1.png", "options": ["Chair", "Fridge", "Sofa", "HousePlant"]} +{"id": 9363, "folder_dir": "train1458/0", "pair_name": "0-1:HousePlant|6|4|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Chair\nC. HousePlant\nD. Vase", "answer": "C", "object_name": "HousePlant", "image_1": "train1458/0/rgb_0.png", "image_2": "train1458/0/rgb_1.png", "mask_image": "train1458/0/rgb_1_mask_HousePlant|6|4|0.png", "options": ["Fridge", "Chair", "HousePlant", "Vase"]} +{"id": 9364, "folder_dir": "train1458/0", "pair_name": "0-1:GarbageBag|6|5", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. GarbageBag\nC. DiningTable\nD. Fridge", "answer": "B", "object_name": "GarbageBag", "image_1": "train1458/0/rgb_0.png", "image_2": "train1458/0/rgb_1.png", "mask_image": "train1458/0/rgb_1_mask_GarbageBag|6|5.png", "options": ["Vase", "GarbageBag", "DiningTable", "Fridge"]} diff --git a/train/train1458/0/rgb_0.png b/train/train1458/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1b40137eb54c4ebc9b1664cef6967554b4b03f3d --- /dev/null +++ b/train/train1458/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5c6adbe4561a019f0035304d479bd46cd70f56b18c702d5ed2fe7d6c748cf09 +size 650489 diff --git a/train/train1458/0/rgb_1.png b/train/train1458/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b1a2d23e5f05131a2bcd1db5e160e87cc5d1cce1 --- /dev/null +++ b/train/train1458/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ed875208d92af3e00ce422623e419164a3b0337de0242529389a5254b2b29d1 +size 636280 diff --git a/train/train1458/0/rgb_1_mask_Fridge|6|1.png b/train/train1458/0/rgb_1_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..ab33aaf13e6d2df738802157f454b50c15e9bd6b --- /dev/null +++ b/train/train1458/0/rgb_1_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6974c04536be25fa7432e5f7579715a722d392d7654ad90703b9be235407119a +size 551782 diff --git a/train/train1458/0/rgb_1_mask_GarbageBag|6|5.png b/train/train1458/0/rgb_1_mask_GarbageBag|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..2980d561eb319bf7d4de6ea14f9fb659fa54a85e --- /dev/null +++ b/train/train1458/0/rgb_1_mask_GarbageBag|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:391951ddf08bbe0ba5af513dae8c1617a94c6380cd7bc3bb4a1b1873da33a9a6 +size 548388 diff --git a/train/train1458/0/rgb_1_mask_HousePlant|6|4|0.png b/train/train1458/0/rgb_1_mask_HousePlant|6|4|0.png new file mode 100644 index 0000000000000000000000000000000000000000..c79508ec3c19fd4971c5609d310bbff5a0d0502b --- /dev/null +++ b/train/train1458/0/rgb_1_mask_HousePlant|6|4|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b47cd02ce311f0ebe9fcbef8606eb2a8bdd14cbd09fceac3680176be36da892 +size 546521 diff --git a/train/train1458/0/semantic_0.png b/train/train1458/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7d3ad615e8cceb98bd0ae0f7297372a8abc165b8 Binary files /dev/null and b/train/train1458/0/semantic_0.png differ diff --git a/train/train1458/0/semantic_1.png b/train/train1458/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8e027c9be335ee42d7d284512aca8ba89b97bbf9 Binary files /dev/null and b/train/train1458/0/semantic_1.png differ diff --git a/train/train1458/1/0.json b/train/train1458/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..6016aee673a86e02fcf587a002c5fa34d7221b01 --- /dev/null +++ b/train/train1458/1/0.json @@ -0,0 +1,1413 @@ +{ + "object": [ + { + "objectId": "Chair|6|3|1", + "object_info": { + "name": "Chair|6|3|1", + "position": { + "x": 6.781373023986816, + "y": 0.0005902945995330811, + "z": 2.9786036014556885 + }, + "rotation": { + "x": -0.0, + "y": 171.00523376464844, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|6|3|0" + ], + "distance": 1.8704185485839844, + "objectType": "Chair", + "objectId": "Chair|6|3|1", + "assetId": "Chair_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.005563735961914, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 7.005563735961914, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 2.747330665588379 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 2.747330665588379 + ] + ], + "center": { + "x": 6.7748613357543945, + "y": 0.4374740421772003, + "z": 3.003213882446289 + }, + "size": { + "x": 0.46140480041503906, + "y": 0.8749387264251709, + "z": 0.5117664337158203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.601893424987793, + 4.708766937255859e-06, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 4.708766937255859e-06, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 4.708766937255859e-06, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 4.708766937255859e-06, + 3.2015936374664307 + ], + [ + 6.601893424987793, + 0.8749431371688843, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 0.8749431371688843, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 0.8749431371688843, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 0.8749431371688843, + 3.2015936374664307 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|6|1", + "object_info": { + "name": "Vase|surface|6|1", + "position": { + "x": 7.068648338317871, + "y": 0.7408308386802673, + "z": 2.612952709197998 + }, + "rotation": { + "x": 0.019188301637768745, + "y": 180.00320434570312, + "z": 0.014039966277778149 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.246186375617981, + "objectType": "Vase", + "objectId": "Vase|surface|6|1", + "assetId": "Vase_Open_2", + "parentReceptacles": [ + "DiningTable|6|3|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.163296699523926, + 0.9857940673828125, + 2.7075347900390625 + ], + [ + 7.163296699523926, + 0.9857940673828125, + 2.5182886123657227 + ], + [ + 7.163296699523926, + 0.7416925430297852, + 2.7075347900390625 + ], + [ + 7.163296699523926, + 0.7416925430297852, + 2.5182886123657227 + ], + [ + 6.974059104919434, + 0.9857940673828125, + 2.7075347900390625 + ], + [ + 6.974059104919434, + 0.9857940673828125, + 2.5182886123657227 + ], + [ + 6.974059104919434, + 0.7416925430297852, + 2.7075347900390625 + ], + [ + 6.974059104919434, + 0.7416925430297852, + 2.5182886123657227 + ] + ], + "center": { + "x": 7.06867790222168, + "y": 0.8637433052062988, + "z": 2.6129117012023926 + }, + "size": { + "x": 0.1892375946044922, + "y": 0.24410152435302734, + "z": 0.18924617767333984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.974036693572998, + 0.7417077422142029, + 2.5183513164520264 + ], + [ + 7.163249492645264, + 0.7416613698005676, + 2.518340826034546 + ], + [ + 7.163260459899902, + 0.7417247891426086, + 2.7075536251068115 + ], + [ + 6.974047660827637, + 0.7417711615562439, + 2.707564115524292 + ], + [ + 6.974096775054932, + 0.9857537746429443, + 2.5182695388793945 + ], + [ + 7.163309574127197, + 0.9857074022293091, + 2.518259048461914 + ], + [ + 7.163320064544678, + 0.9857707619667053, + 2.7074718475341797 + ], + [ + 6.974107265472412, + 0.9858171343803406, + 2.70748233795166 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|3|0", + "object_info": { + "name": "DiningTable|6|3|0", + "position": { + "x": 6.771223545074463, + "y": -0.00013914704322814941, + "z": 2.5194694995880127 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|0", + "Vase|surface|6|1" + ], + "distance": 1.7525538206100464, + "objectType": "DiningTable", + "objectId": "DiningTable|6|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Chair|6|3|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.372919082641602, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 7.372919082641602, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.1358625888824463 + ] + ], + "center": { + "x": 6.771223068237305, + "y": 0.37085530161857605, + "z": 2.5194694995880127 + }, + "size": { + "x": 1.2033920288085938, + "y": 0.7416954636573792, + "z": 0.7672138214111328 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.903076410293579 + ] + ] + } + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 11.118658065795898, + "y": 0.007478475570678711, + "z": 3.3662993907928467 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|4" + ], + "distance": 3.2052619457244873, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.453998565673828, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 11.453998565673828, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 2.9309935569763184 + ] + ], + "center": { + "x": 11.095033645629883, + "y": 0.909221887588501, + "z": 3.3659963607788086 + }, + "size": { + "x": 0.7179298400878906, + "y": 1.8184428215026855, + "z": 0.8700056076049805 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 4.344852447509766, + "y": -0.018440067768096924, + "z": 6.738438606262207 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Bowl|surface|7|10", + "Laptop|surface|7|9", + "CellPhone|surface|7|7" + ], + "distance": 6.020102024078369, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 4.838703632354736, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 5.848877906799316 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 5.848877906799316 + ] + ], + "center": { + "x": 4.344852447509766, + "y": 0.3391090929508209, + "z": 6.738438606262207 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001024246216, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001024246216, + 0.6782165169715881, + 5.848877906799316 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|5", + "object_info": { + "name": "GarbageBag|6|5", + "position": { + "x": 9.93146800994873, + "y": -0.0016815364360809326, + "z": 2.1855967044830322 + }, + "rotation": { + "x": 0.0427328422665596, + "y": 270.0003967285156, + "z": 0.37392106652259827 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.909532904624939, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|5", + "assetId": "GarbageBag_21_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.189888000488281, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 10.189888000488281, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 1.9386863708496094 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 1.9386863708496094 + ] + ], + "center": { + "x": 9.93228530883789, + "y": 0.27866193652153015, + "z": 2.194065570831299 + }, + "size": { + "x": 0.5152053833007812, + "y": 0.557325541973114, + "z": 0.5107583999633789 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.674802780151367, + 0.0009304089471697807, + 2.450488805770874 + ], + [ + 9.67480182647705, + -0.002402830170467496, + 1.9397449493408203 + ], + [ + 10.190009117126465, + -0.002018573461100459, + 1.9397414922714233 + ], + [ + 10.190010070800781, + 0.0013146656565368176, + 2.4504852294921875 + ], + [ + 9.674386024475098, + 0.558856725692749, + 2.446847677230835 + ], + [ + 9.674385070800781, + 0.5555235147476196, + 1.9361038208007812 + ], + [ + 10.189592361450195, + 0.5559078454971313, + 1.9361002445220947 + ], + [ + 10.189593315124512, + 0.5592410564422607, + 2.4468441009521484 + ] + ] + } + } + }, + { + "objectId": "TVStand|7|2", + "object_info": { + "name": "TVStand|7|2", + "position": { + "x": 4.037482261657715, + "y": 0.0009346157312393188, + "z": 5.073751926422119 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Statue|surface|7|12", + "HousePlant|surface|7|13" + ], + "distance": 5.150630950927734, + "objectType": "TVStand", + "objectId": "TVStand|7|2", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|7|8" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.220876693725586, + 0.45024925470352173, + 5.6926679611206055 + ], + [ + 4.220876693725586, + 0.45024925470352173, + 4.454863548278809 + ], + [ + 4.220876693725586, + 2.384185791015625e-07, + 5.6926679611206055 + ], + [ + 4.220876693725586, + 2.384185791015625e-07, + 4.454863548278809 + ], + [ + 3.8509998321533203, + 0.45024925470352173, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.45024925470352173, + 4.454863548278809 + ], + [ + 3.8509998321533203, + 2.384185791015625e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.384185791015625e-07, + 4.454863548278809 + ] + ], + "center": { + "x": 4.035938262939453, + "y": 0.22512474656105042, + "z": 5.073765754699707 + }, + "size": { + "x": 0.3698768615722656, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.220876216888428, + 2.682209014892578e-07, + 4.454863548278809 + ], + [ + 4.220876216888428, + 2.682209014892578e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.682209014892578e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.682209014892578e-07, + 4.454863548278809 + ], + [ + 4.220876216888428, + 0.4502490758895874, + 4.454863548278809 + ], + [ + 4.220876216888428, + 0.4502490758895874, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.4502490758895874, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.4502490758895874, + 4.454863548278809 + ] + ] + } + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 9.211421012878418, + "y": 0.003310978412628174, + "z": 3.6443896293640137 + }, + "rotation": { + "x": 6.861903239041567e-05, + "y": 341.9659729003906, + "z": -0.0002130199718521908 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 1.9168980121612549, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.32536506652832, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.503091812133789 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.503091812133789 + ] + ], + "center": { + "x": 9.2114839553833, + "y": 0.425205796957016, + "z": 3.6301136016845703 + }, + "size": { + "x": 0.22776222229003906, + "y": 0.850409984588623, + "z": 0.2540435791015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.283507347106934, + -3.1851232051849365e-07, + 3.8010001182556152 + ], + [ + 9.060393333435059, + 5.539041012525558e-07, + 3.7283594608306885 + ], + [ + 9.136246681213379, + 8.472707122564316e-07, + 3.4953770637512207 + ], + [ + 9.359360694885254, + -2.514570951461792e-08, + 3.5680177211761475 + ], + [ + 9.283510208129883, + 0.8504104018211365, + 3.801002025604248 + ], + [ + 9.060396194458008, + 0.8504112362861633, + 3.7283613681793213 + ], + [ + 9.136249542236328, + 0.8504115343093872, + 3.4953789710998535 + ], + [ + 9.359363555908203, + 0.8504106998443604, + 3.5680198669433594 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 6.271206855773926, + "y": 0.0023636221885681152, + "z": 7.296786308288574 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|11" + ], + "distance": 5.49483585357666, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.110105037689209, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 7.110105037689209, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 6.948600769042969 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 6.948600769042969 + ] + ], + "center": { + "x": 6.271206855773926, + "y": 0.44755420088768005, + "z": 7.288280487060547 + }, + "size": { + "x": 1.6777963638305664, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.432308673858643, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 7.627959728240967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.199999809265137, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.199999809265137, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|6|3|1", + "DiningTable|6|3|0", + "GarbageBag|6|5" + ], + "different_object": [ + "Vase|surface|6|1", + "TVStand|7|2", + "DiningTable|7|0", + "Sofa|7|1", + "Fridge|6|1", + "HousePlant|6|4|0" + ] +} \ No newline at end of file diff --git a/train/train1458/1/0_depth_npy.npy b/train/train1458/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3b040cf44b966478903d18a84102893ff4ab41e4 --- /dev/null +++ b/train/train1458/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c2c2bdf93333a7b3593c6c3a4772a67f67d4718e3f44ed71713e13db818d7f0 +size 3145856 diff --git a/train/train1458/1/0_semantic_sensor_npy.npy b/train/train1458/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d1a6fbd1df15c30a12da34a16d955bfe5c53f15a --- /dev/null +++ b/train/train1458/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b349a5329111a92100d87f2e23e59bbd4abf009873e89f2a69594484db7fb8b0 +size 2359424 diff --git a/train/train1458/1/1.json b/train/train1458/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..5331e6235f0e63e0f4aac55b374808aebf9912b8 --- /dev/null +++ b/train/train1458/1/1.json @@ -0,0 +1,936 @@ +{ + "object": [ + { + "objectId": "Chair|6|3|1", + "object_info": { + "name": "Chair|6|3|1", + "position": { + "x": 6.781373023986816, + "y": 0.0005902945995330811, + "z": 2.9786036014556885 + }, + "rotation": { + "x": -0.0, + "y": 171.00523376464844, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|6|3|0" + ], + "distance": 1.8704185485839844, + "objectType": "Chair", + "objectId": "Chair|6|3|1", + "assetId": "Chair_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.005563735961914, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 7.005563735961914, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 2.747330665588379 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 2.747330665588379 + ] + ], + "center": { + "x": 6.7748613357543945, + "y": 0.4374740421772003, + "z": 3.003213882446289 + }, + "size": { + "x": 0.46140480041503906, + "y": 0.8749387264251709, + "z": 0.5117664337158203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.601893424987793, + 4.708766937255859e-06, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 4.708766937255859e-06, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 4.708766937255859e-06, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 4.708766937255859e-06, + 3.2015936374664307 + ], + [ + 6.601893424987793, + 0.8749431371688843, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 0.8749431371688843, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 0.8749431371688843, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 0.8749431371688843, + 3.2015936374664307 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|3|0", + "object_info": { + "name": "DiningTable|6|3|0", + "position": { + "x": 6.771223545074463, + "y": -0.00013914704322814941, + "z": 2.5194694995880127 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|0", + "Vase|surface|6|1" + ], + "distance": 1.7525538206100464, + "objectType": "DiningTable", + "objectId": "DiningTable|6|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Chair|6|3|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.372919082641602, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 7.372919082641602, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.1358625888824463 + ] + ], + "center": { + "x": 6.771223068237305, + "y": 0.37085530161857605, + "z": 2.5194694995880127 + }, + "size": { + "x": 1.2033920288085938, + "y": 0.7416954636573792, + "z": 0.7672138214111328 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.903076410293579 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|5", + "object_info": { + "name": "GarbageBag|6|5", + "position": { + "x": 9.93146800994873, + "y": -0.0016815364360809326, + "z": 2.1855967044830322 + }, + "rotation": { + "x": 0.0427328422665596, + "y": 270.0003967285156, + "z": 0.37392106652259827 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.909532904624939, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|5", + "assetId": "GarbageBag_21_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.189888000488281, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 10.189888000488281, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 1.9386863708496094 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 1.9386863708496094 + ] + ], + "center": { + "x": 9.93228530883789, + "y": 0.27866193652153015, + "z": 2.194065570831299 + }, + "size": { + "x": 0.5152053833007812, + "y": 0.557325541973114, + "z": 0.5107583999633789 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.674802780151367, + 0.0009304089471697807, + 2.450488805770874 + ], + [ + 9.67480182647705, + -0.002402830170467496, + 1.9397449493408203 + ], + [ + 10.190009117126465, + -0.002018573461100459, + 1.9397414922714233 + ], + [ + 10.190010070800781, + 0.0013146656565368176, + 2.4504852294921875 + ], + [ + 9.674386024475098, + 0.558856725692749, + 2.446847677230835 + ], + [ + 9.674385070800781, + 0.5555235147476196, + 1.9361038208007812 + ], + [ + 10.189592361450195, + 0.5559078454971313, + 1.9361002445220947 + ], + [ + 10.189593315124512, + 0.5592410564422607, + 2.4468441009521484 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.452964782714844, + "y": 5.960464477539063e-08, + "z": 0.025998950004577637 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|surface|6|3", + "PepperShaker|surface|6|5", + "SaltShaker|surface|6|6", + "DishSponge|surface|6|2" + ], + "distance": 4.002120018005371, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_8x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.454000473022461, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 11.454000473022461, + 0.0, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.0, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.0, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.0, + 0.025000035762786865 + ] + ], + "center": { + "x": 10.234277725219727, + "y": 0.46873319149017334, + "z": 0.3302757441997528 + }, + "size": { + "x": 2.4394454956054688, + "y": 0.9374663829803467, + "z": 0.6105514168739319 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|surface|6|6", + "object_info": { + "name": "SaltShaker|surface|6|6", + "position": { + "x": 9.623495101928711, + "y": 0.9374663233757019, + "z": 0.25668781995773315 + }, + "rotation": { + "x": 359.9914855957031, + "y": -0.00037353698280639946, + "z": 0.0015037247212603688 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.420973300933838, + "objectType": "SaltShaker", + "objectId": "SaltShaker|surface|6|6", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_salt_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.643617630004883, + 1.0333644151687622, + 0.27697277069091797 + ], + [ + 9.643617630004883, + 1.0333644151687622, + 0.23638862371444702 + ], + [ + 9.643617630004883, + 0.9374626874923706, + 0.27697277069091797 + ], + [ + 9.643617630004883, + 0.9374626874923706, + 0.23638862371444702 + ], + [ + 9.603370666503906, + 1.0333644151687622, + 0.27697277069091797 + ], + [ + 9.603370666503906, + 1.0333644151687622, + 0.23638862371444702 + ], + [ + 9.603370666503906, + 0.9374626874923706, + 0.27697277069091797 + ], + [ + 9.603370666503906, + 0.9374626874923706, + 0.23638862371444702 + ] + ], + "center": { + "x": 9.623494148254395, + "y": 0.9854135513305664, + "z": 0.2566806972026825 + }, + "size": { + "x": 0.04024696350097656, + "y": 0.0959017276763916, + "z": 0.04058414697647095 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.643616676330566, + 0.9374698400497437, + 0.27697277069091797 + ], + [ + 9.603373527526855, + 0.9374688267707825, + 0.27697253227233887 + ], + [ + 9.603373527526855, + 0.9374628067016602, + 0.23640285432338715 + ], + [ + 9.643616676330566, + 0.9374638199806213, + 0.23640312254428864 + ], + [ + 9.643613815307617, + 1.0333644151687622, + 0.27695855498313904 + ], + [ + 9.603370666503906, + 1.0333634614944458, + 0.27695828676223755 + ], + [ + 9.603370666503906, + 1.0333573818206787, + 0.23638862371444702 + ], + [ + 9.643614768981934, + 1.0333584547042847, + 0.2363888919353485 + ] + ] + } + } + }, + { + "objectId": "Stool|6|2", + "object_info": { + "name": "Stool|6|2", + "position": { + "x": 8.324003219604492, + "y": 0.00904420018196106, + "z": 0.2090488076210022 + }, + "rotation": { + "x": 359.9299621582031, + "y": 0.0063713896088302135, + "z": 359.6746520996094 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.180000066757202, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.228574275970459, + "objectType": "Stool", + "objectId": "Stool|6|2", + "assetId": "Stool_3_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.502483367919922, + 0.5860762000083923, + 0.3932006359100342 + ], + [ + 8.502483367919922, + 0.5860762000083923, + 0.025002017617225647 + ], + [ + 8.502483367919922, + -3.93986701965332e-05, + 0.3932006359100342 + ], + [ + 8.502483367919922, + -3.93986701965332e-05, + 0.025002017617225647 + ], + [ + 8.145734786987305, + 0.5860762000083923, + 0.3932006359100342 + ], + [ + 8.145734786987305, + 0.5860762000083923, + 0.025002017617225647 + ], + [ + 8.145734786987305, + -3.93986701965332e-05, + 0.3932006359100342 + ], + [ + 8.145734786987305, + -3.93986701965332e-05, + 0.025002017617225647 + ] + ], + "center": { + "x": 8.324109077453613, + "y": 0.2930184006690979, + "z": 0.2091013342142105 + }, + "size": { + "x": 0.3567485809326172, + "y": 0.5861155986785889, + "z": 0.3681986331939697 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.502488136291504, + -0.00100801233202219, + 0.3931810259819031 + ], + [ + 8.145742416381836, + 0.0010178247466683388, + 0.3932182192802429 + ], + [ + 8.14570140838623, + 0.0005676886066794395, + 0.025026023387908936 + ], + [ + 8.502447128295898, + -0.0014581484720110893, + 0.024988830089569092 + ], + [ + 8.505812644958496, + 0.5844511985778809, + 0.39246493577957153 + ], + [ + 8.149066925048828, + 0.5864770412445068, + 0.3925021290779114 + ], + [ + 8.149025917053223, + 0.5860269069671631, + 0.02430988848209381 + ], + [ + 8.50577163696289, + 0.5840010643005371, + 0.024272695183753967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.199999809265137, + "y": 0.9009997844696045, + "z": 2.4000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.199999809265137, + "y": 1.5759997367858887, + "z": 2.4000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|6|3|1", + "DiningTable|6|3|0", + "GarbageBag|6|5" + ], + "different_object": [ + "SaltShaker|surface|6|6", + "CounterTop|6|0", + "Stool|6|2" + ] +} \ No newline at end of file diff --git a/train/train1458/1/1_depth_npy.npy b/train/train1458/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2d8dd812b6b7b46e982fb9dac22983fb3a72cb9 --- /dev/null +++ b/train/train1458/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:921950b344b2f05258c4a28659c833f5db85724a363c87bd9995d1cee50c6fdf +size 3145856 diff --git a/train/train1458/1/1_semantic_sensor_npy.npy b/train/train1458/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..89513f83fbb404081ed67201846732678ca4dc06 --- /dev/null +++ b/train/train1458/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61b4833037a0dde4134a524b82503b579616c9fc9d146fcee64767403b30a572 +size 2359424 diff --git a/train/train1458/1/depth_0.png b/train/train1458/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..280b6f4bb3000fdf3ef01001bff7dee089f728ca Binary files /dev/null and b/train/train1458/1/depth_0.png differ diff --git a/train/train1458/1/depth_1.png b/train/train1458/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d78000461970de536f5ae46d7151550b184c0ed6 Binary files /dev/null and b/train/train1458/1/depth_1.png differ diff --git a/train/train1458/1/mask_questions.jsonl b/train/train1458/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f0060cb73716d0f5f789623a99e7e9a7d86a770 --- /dev/null +++ b/train/train1458/1/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 9365, "folder_dir": "train1458/1", "pair_name": "0-1:GarbageBag|6|5", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageBag\nB. DiningTable\nC. Chair\nD. TVStand", "answer": "A", "object_name": "GarbageBag", "image_1": "train1458/1/rgb_0.png", "image_2": "train1458/1/rgb_1.png", "mask_image": "train1458/1/rgb_1_mask_GarbageBag|6|5.png", "options": ["GarbageBag", "DiningTable", "Chair", "TVStand"]} diff --git a/train/train1458/1/rgb_0.png b/train/train1458/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1b40137eb54c4ebc9b1664cef6967554b4b03f3d --- /dev/null +++ b/train/train1458/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5c6adbe4561a019f0035304d479bd46cd70f56b18c702d5ed2fe7d6c748cf09 +size 650489 diff --git a/train/train1458/1/rgb_1.png b/train/train1458/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..57fcc9c608d05963a8c670f3b316f96b43b9facf --- /dev/null +++ b/train/train1458/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1976b8dba9e7669332b17c9407a54d438bcfafbd14584d87bb8756a5fc7c9f0d +size 681902 diff --git a/train/train1458/1/rgb_1_mask_GarbageBag|6|5.png b/train/train1458/1/rgb_1_mask_GarbageBag|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..681290ec0cd0ec4ecafb81b2e56053ba806de6dc --- /dev/null +++ b/train/train1458/1/rgb_1_mask_GarbageBag|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72df1a904389fdea0ce778cafb3b62b9dcbbc3c953dd5ffa2c9378dfe341f5a1 +size 587940 diff --git a/train/train1458/1/semantic_0.png b/train/train1458/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7d3ad615e8cceb98bd0ae0f7297372a8abc165b8 Binary files /dev/null and b/train/train1458/1/semantic_0.png differ diff --git a/train/train1458/1/semantic_1.png b/train/train1458/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a4cf9c33fb9730ce33a73fcb49b354057495d2d5 Binary files /dev/null and b/train/train1458/1/semantic_1.png differ diff --git a/train/train1458/2/0.json b/train/train1458/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..da8ce4ad2e21e93470fc97366d1a821484cb5b8c --- /dev/null +++ b/train/train1458/2/0.json @@ -0,0 +1,1487 @@ +{ + "object": [ + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 11.478999137878418, + "y": 0.9236187934875488, + "z": 2.8892860412597656 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.291752338409424, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Fixed_60x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.523427963256836, + 1.8437416553497314, + 2.892974615097046 + ], + [ + 11.523427963256836, + 1.8437416553497314, + 1.3615972995758057 + ], + [ + 11.523427963256836, + 0.9202170372009277, + 2.892974615097046 + ], + [ + 11.523427963256836, + 0.9202170372009277, + 1.3615972995758057 + ], + [ + 11.434572219848633, + 1.8437416553497314, + 2.892974615097046 + ], + [ + 11.434572219848633, + 1.8437416553497314, + 1.3615972995758057 + ], + [ + 11.434572219848633, + 0.9202170372009277, + 2.892974615097046 + ], + [ + 11.434572219848633, + 0.9202170372009277, + 1.3615972995758057 + ] + ], + "center": { + "x": 11.479000091552734, + "y": 1.3819793462753296, + "z": 2.127285957336426 + }, + "size": { + "x": 0.08885574340820312, + "y": 0.9235246181488037, + "z": 1.5313773155212402 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 11.118658065795898, + "y": 0.007478475570678711, + "z": 3.3662993907928467 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|4" + ], + "distance": 3.2052619457244873, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.453998565673828, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 11.453998565673828, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 2.9309935569763184 + ] + ], + "center": { + "x": 11.095033645629883, + "y": 0.909221887588501, + "z": 3.3659963607788086 + }, + "size": { + "x": 0.7179298400878906, + "y": 1.8184428215026855, + "z": 0.8700056076049805 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|surface|6|3", + "object_info": { + "name": "SoapBottle|surface|6|3", + "position": { + "x": 11.148604393005371, + "y": 0.9423781037330627, + "z": 0.4869726896286011 + }, + "rotation": { + "x": 0.004438729025423527, + "y": -0.00046797271352261305, + "z": -0.0008948780014179647 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.3929169178009033, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|3", + "assetId": "Soap_Bottle_9", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.204839706420898, + 1.2040798664093018, + 0.5473217368125916 + ], + [ + 11.204839706420898, + 1.2040798664093018, + 0.4307383894920349 + ], + [ + 11.204839706420898, + 0.9374639987945557, + 0.5473217368125916 + ], + [ + 11.204839706420898, + 0.9374639987945557, + 0.4307383894920349 + ], + [ + 11.092370986938477, + 1.2040798664093018, + 0.5473217368125916 + ], + [ + 11.092370986938477, + 1.2040798664093018, + 0.4307383894920349 + ], + [ + 11.092370986938477, + 0.9374639987945557, + 0.5473217368125916 + ], + [ + 11.092370986938477, + 0.9374639987945557, + 0.4307383894920349 + ] + ], + "center": { + "x": 11.148605346679688, + "y": 1.0707719326019287, + "z": 0.48903006315231323 + }, + "size": { + "x": 0.11246871948242188, + "y": 0.2666158676147461, + "z": 0.11658334732055664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 11.204837799072266, + 0.9374619126319885, + 0.5473024845123291 + ], + [ + 11.09237003326416, + 0.9374637007713318, + 0.5473015308380127 + ], + [ + 11.092370986938477, + 0.9374727010726929, + 0.4307374358177185 + ], + [ + 11.204838752746582, + 0.9374709725379944, + 0.4307383596897125 + ], + [ + 11.204841613769531, + 1.2040761709213257, + 0.5473231077194214 + ], + [ + 11.092373847961426, + 1.204077959060669, + 0.5473222136497498 + ], + [ + 11.092374801635742, + 1.2040870189666748, + 0.4307580888271332 + ], + [ + 11.204842567443848, + 1.2040852308273315, + 0.4307590126991272 + ] + ] + } + } + }, + { + "objectId": "DishSponge|surface|6|2", + "object_info": { + "name": "DishSponge|surface|6|2", + "position": { + "x": 10.538559913635254, + "y": 0.9395574927330017, + "z": 0.41021010279655457 + }, + "rotation": { + "x": -1.1185248922629398e-06, + "y": 0.00020105723524466157, + "z": -0.0005334705929271877 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.936634063720703, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|2", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.575339317321777, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.575339317321777, + 0.9635056853294373, + 0.340736985206604 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.4796832203865051 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.340736985206604 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.340736985206604 + ], + [ + 10.50178050994873, + 0.9374659657478333, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9374659657478333, + 0.340736985206604 + ] + ], + "center": { + "x": 10.538559913635254, + "y": 0.9504858255386353, + "z": 0.41021010279655457 + }, + "size": { + "x": 0.07355880737304688, + "y": 0.026039719581604004, + "z": 0.13894623517990112 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.575339317321777, + 0.9374659657478333, + 0.479682981967926 + ], + [ + 10.50178050994873, + 0.9374666810035706, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9374666810035706, + 0.3407372236251831 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.340736985206604 + ], + [ + 10.575339317321777, + 0.9635049700737, + 0.479682981967926 + ], + [ + 10.501781463623047, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.3407372236251831 + ], + [ + 10.575339317321777, + 0.9635049700737, + 0.340736985206604 + ] + ] + } + } + }, + { + "objectId": "Painting|6|8", + "object_info": { + "name": "Painting|6|8", + "position": { + "x": 10.817353248596191, + "y": 2.028589963912964, + "z": 0.004995772615075111 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.592047691345215, + "objectType": "Painting", + "objectId": "Painting|6|8", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.296127319335938, + 2.3569676876068115, + 0.036740973591804504 + ], + [ + 11.296127319335938, + 2.3569676876068115, + 0.005000002682209015 + ], + [ + 11.296127319335938, + 1.7002122402191162, + 0.036740973591804504 + ], + [ + 11.296127319335938, + 1.7002122402191162, + 0.005000002682209015 + ], + [ + 10.338579177856445, + 2.3569676876068115, + 0.036740973591804504 + ], + [ + 10.338579177856445, + 2.3569676876068115, + 0.005000002682209015 + ], + [ + 10.338579177856445, + 1.7002122402191162, + 0.036740973591804504 + ], + [ + 10.338579177856445, + 1.7002122402191162, + 0.005000002682209015 + ] + ], + "center": { + "x": 10.817353248596191, + "y": 2.028589963912964, + "z": 0.02087048813700676 + }, + "size": { + "x": 0.9575481414794922, + "y": 0.6567554473876953, + "z": 0.03174097090959549 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageBag|6|5", + "object_info": { + "name": "GarbageBag|6|5", + "position": { + "x": 9.93146800994873, + "y": -0.0016815364360809326, + "z": 2.1855967044830322 + }, + "rotation": { + "x": 0.0427328422665596, + "y": 270.0003967285156, + "z": 0.37392106652259827 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.909532904624939, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|5", + "assetId": "GarbageBag_21_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.189888000488281, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 10.189888000488281, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 1.9386863708496094 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 1.9386863708496094 + ] + ], + "center": { + "x": 9.93228530883789, + "y": 0.27866193652153015, + "z": 2.194065570831299 + }, + "size": { + "x": 0.5152053833007812, + "y": 0.557325541973114, + "z": 0.5107583999633789 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.674802780151367, + 0.0009304089471697807, + 2.450488805770874 + ], + [ + 9.67480182647705, + -0.002402830170467496, + 1.9397449493408203 + ], + [ + 10.190009117126465, + -0.002018573461100459, + 1.9397414922714233 + ], + [ + 10.190010070800781, + 0.0013146656565368176, + 2.4504852294921875 + ], + [ + 9.674386024475098, + 0.558856725692749, + 2.446847677230835 + ], + [ + 9.674385070800781, + 0.5555235147476196, + 1.9361038208007812 + ], + [ + 10.189592361450195, + 0.5559078454971313, + 1.9361002445220947 + ], + [ + 10.189593315124512, + 0.5592410564422607, + 2.4468441009521484 + ] + ] + } + } + }, + { + "objectId": "Painting|6|6", + "object_info": { + "name": "Painting|6|6", + "position": { + "x": 11.474004745483398, + "y": 1.9854750633239746, + "z": 0.8779200315475464 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.667819023132324, + "objectType": "Painting", + "objectId": "Painting|6|6", + "assetId": "Wall_Decor_Photo_3V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.473999977111816, + 2.273437261581421, + 1.3083771467208862 + ], + [ + 11.473999977111816, + 2.273437261581421, + 0.44746291637420654 + ], + [ + 11.473999977111816, + 1.6975128650665283, + 1.3083771467208862 + ], + [ + 11.473999977111816, + 1.6975128650665283, + 0.44746291637420654 + ], + [ + 11.442259788513184, + 2.273437261581421, + 1.3083771467208862 + ], + [ + 11.442259788513184, + 2.273437261581421, + 0.44746291637420654 + ], + [ + 11.442259788513184, + 1.6975128650665283, + 1.3083771467208862 + ], + [ + 11.442259788513184, + 1.6975128650665283, + 0.44746291637420654 + ] + ], + "center": { + "x": 11.4581298828125, + "y": 1.9854750633239746, + "z": 0.8779200315475464 + }, + "size": { + "x": 0.03174018859863281, + "y": 0.5759243965148926, + "z": 0.8609142303466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|7", + "object_info": { + "name": "Painting|6|7", + "position": { + "x": 9.46800708770752, + "y": 1.941169023513794, + "z": 3.824313163757324 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.245875120162964, + "objectType": "Painting", + "objectId": "Painting|6|7", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.86520767211914, + 2.241990566253662, + 3.8083372116088867 + ], + [ + 9.86520767211914, + 2.241990566253662, + 3.8009629249572754 + ], + [ + 9.86520767211914, + 1.6406073570251465, + 3.8083372116088867 + ], + [ + 9.86520767211914, + 1.6406073570251465, + 3.8009629249572754 + ], + [ + 9.067811965942383, + 2.241990566253662, + 3.8083372116088867 + ], + [ + 9.067811965942383, + 2.241990566253662, + 3.8009629249572754 + ], + [ + 9.067811965942383, + 1.6406073570251465, + 3.8083372116088867 + ], + [ + 9.067811965942383, + 1.6406073570251465, + 3.8009629249572754 + ] + ], + "center": { + "x": 9.466509819030762, + "y": 1.9412989616394043, + "z": 3.804650068283081 + }, + "size": { + "x": 0.7973957061767578, + "y": 0.6013832092285156, + "z": 0.007374286651611328 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|surface|6|5", + "object_info": { + "name": "PepperShaker|surface|6|5", + "position": { + "x": 10.843582153320312, + "y": 0.9374663233757019, + "z": 0.3334483206272125 + }, + "rotation": { + "x": 359.991455078125, + "y": -0.0006154038710519671, + "z": 0.0014100500848144293 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.2250843048095703, + "objectType": "PepperShaker", + "objectId": "PepperShaker|surface|6|5", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_pepper_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.863704681396484, + 1.0333644151687622, + 0.3537333607673645 + ], + [ + 10.863704681396484, + 1.0333644151687622, + 0.31314897537231445 + ], + [ + 10.863704681396484, + 0.9374628067016602, + 0.3537333607673645 + ], + [ + 10.863704681396484, + 0.9374628067016602, + 0.31314897537231445 + ], + [ + 10.823457717895508, + 1.0333644151687622, + 0.3537333607673645 + ], + [ + 10.823457717895508, + 1.0333644151687622, + 0.31314897537231445 + ], + [ + 10.823457717895508, + 0.9374628067016602, + 0.3537333607673645 + ], + [ + 10.823457717895508, + 0.9374628067016602, + 0.31314897537231445 + ] + ], + "center": { + "x": 10.843581199645996, + "y": 0.9854136109352112, + "z": 0.3334411680698395 + }, + "size": { + "x": 0.04024696350097656, + "y": 0.09590160846710205, + "z": 0.04058438539505005 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.863703727722168, + 0.9374698400497437, + 0.3537333607673645 + ], + [ + 10.823460578918457, + 0.9374688267707825, + 0.3537329435348511 + ], + [ + 10.823460578918457, + 0.9374628067016602, + 0.31316328048706055 + ], + [ + 10.863703727722168, + 0.9374638199806213, + 0.313163697719574 + ], + [ + 10.863701820373535, + 1.0333644151687622, + 0.3537190854549408 + ], + [ + 10.823457717895508, + 1.0333634614944458, + 0.35371866822242737 + ], + [ + 10.823458671569824, + 1.0333573818206787, + 0.31314900517463684 + ], + [ + 10.863701820373535, + 1.0333583354949951, + 0.31314942240715027 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.452964782714844, + "y": 5.960464477539063e-08, + "z": 0.025998950004577637 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|surface|6|3", + "PepperShaker|surface|6|5", + "SaltShaker|surface|6|6", + "DishSponge|surface|6|2" + ], + "distance": 4.002120018005371, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_8x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.454000473022461, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 11.454000473022461, + 0.0, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.0, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.0, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.0, + 0.025000035762786865 + ] + ], + "center": { + "x": 10.234277725219727, + "y": 0.46873319149017334, + "z": 0.3302757441997528 + }, + "size": { + "x": 2.4394454956054688, + "y": 0.9374663829803467, + "z": 0.6105514168739319 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 9.211421012878418, + "y": 0.003310978412628174, + "z": 3.6443896293640137 + }, + "rotation": { + "x": 6.861903239041567e-05, + "y": 341.9659729003906, + "z": -0.0002130199718521908 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 1.9168980121612549, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.32536506652832, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.503091812133789 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.503091812133789 + ] + ], + "center": { + "x": 9.2114839553833, + "y": 0.425205796957016, + "z": 3.6301136016845703 + }, + "size": { + "x": 0.22776222229003906, + "y": 0.850409984588623, + "z": 0.2540435791015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.283507347106934, + -3.1851232051849365e-07, + 3.8010001182556152 + ], + [ + 9.060393333435059, + 5.539041012525558e-07, + 3.7283594608306885 + ], + [ + 9.136246681213379, + 8.472707122564316e-07, + 3.4953770637512207 + ], + [ + 9.359360694885254, + -2.514570951461792e-08, + 3.5680177211761475 + ], + [ + 9.283510208129883, + 0.8504104018211365, + 3.801002025604248 + ], + [ + 9.060396194458008, + 0.8504112362861633, + 3.7283613681793213 + ], + [ + 9.136249542236328, + 0.8504115343093872, + 3.4953789710998535 + ], + [ + 9.359363555908203, + 0.8504106998443604, + 3.5680198669433594 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.399999618530273, + "y": 0.9009997844696045, + "z": 2.4000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.399999618530273, + "y": 1.5759997367858887, + "z": 2.4000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "HousePlant|6|4|0", + "Fridge|6|1", + "Painting|6|7" + ], + "different_object": [ + "window|6|0", + "GarbageBag|6|5", + "DishSponge|surface|6|2", + "SoapBottle|surface|6|3", + "CounterTop|6|0", + "Painting|6|6", + "Painting|6|8", + "PepperShaker|surface|6|5" + ] +} \ No newline at end of file diff --git a/train/train1458/2/0_depth_npy.npy b/train/train1458/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..585b7d46870be273fd57d544d272d29870246b83 --- /dev/null +++ b/train/train1458/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75d8926fae412759042fc26622f2ae94a2235c3b241911f156f25c5c00e1f0fd +size 3145856 diff --git a/train/train1458/2/0_semantic_sensor_npy.npy b/train/train1458/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d41d35fac3cf90121b0f6cce06fa566f9ab173af --- /dev/null +++ b/train/train1458/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:213b9724c2935042be5d7a818062748813e88ac48db379027ab0e471d8308bc6 +size 2359424 diff --git a/train/train1458/2/1.json b/train/train1458/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f4e9919d1e0b4b6dacf244d91e4ec640f2863448 --- /dev/null +++ b/train/train1458/2/1.json @@ -0,0 +1,2451 @@ +{ + "object": [ + { + "objectId": "Chair|6|3|1", + "object_info": { + "name": "Chair|6|3|1", + "position": { + "x": 6.781373023986816, + "y": 0.0005902945995330811, + "z": 2.9786036014556885 + }, + "rotation": { + "x": -0.0, + "y": 171.00523376464844, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|6|3|0" + ], + "distance": 1.8704185485839844, + "objectType": "Chair", + "objectId": "Chair|6|3|1", + "assetId": "Chair_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.005563735961914, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 7.005563735961914, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 2.747330665588379 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 2.747330665588379 + ] + ], + "center": { + "x": 6.7748613357543945, + "y": 0.4374740421772003, + "z": 3.003213882446289 + }, + "size": { + "x": 0.46140480041503906, + "y": 0.8749387264251709, + "z": 0.5117664337158203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.601893424987793, + 4.708766937255859e-06, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 4.708766937255859e-06, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 4.708766937255859e-06, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 4.708766937255859e-06, + 3.2015936374664307 + ], + [ + 6.601893424987793, + 0.8749431371688843, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 0.8749431371688843, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 0.8749431371688843, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 0.8749431371688843, + 3.2015936374664307 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|7|10", + "object_info": { + "name": "Bowl|surface|7|10", + "position": { + "x": 4.715648651123047, + "y": 0.6791813969612122, + "z": 6.516529083251953 + }, + "rotation": { + "x": 359.99029541015625, + "y": 89.99987030029297, + "z": 0.036698777228593826 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 5.544737339019775, + "objectType": "Bowl", + "objectId": "Bowl|surface|7|10", + "assetId": "Bowl_7", + "parentReceptacles": [ + "DiningTable|7|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.828143119812012, + 0.7990838289260864, + 6.628349304199219 + ], + [ + 4.828143119812012, + 0.7990838289260864, + 6.404886245727539 + ], + [ + 4.828143119812012, + 0.678216814994812, + 6.628349304199219 + ], + [ + 4.828143119812012, + 0.678216814994812, + 6.404886245727539 + ], + [ + 4.6047163009643555, + 0.7990838289260864, + 6.628349304199219 + ], + [ + 4.6047163009643555, + 0.7990838289260864, + 6.404886245727539 + ], + [ + 4.6047163009643555, + 0.678216814994812, + 6.628349304199219 + ], + [ + 4.6047163009643555, + 0.678216814994812, + 6.404886245727539 + ] + ], + "center": { + "x": 4.716429710388184, + "y": 0.7386503219604492, + "z": 6.516617774963379 + }, + "size": { + "x": 0.22342681884765625, + "y": 0.12086701393127441, + "z": 0.2234630584716797 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.828161716461182, + 0.678358256816864, + 6.404815196990967 + ], + [ + 4.828161239624023, + 0.6782150864601135, + 6.6282782554626465 + ], + [ + 4.604734897613525, + 0.6781772971153259, + 6.628277778625488 + ], + [ + 4.604735374450684, + 0.6783204674720764, + 6.404814720153809 + ], + [ + 4.828141212463379, + 0.7991016507148743, + 6.404892444610596 + ], + [ + 4.828140735626221, + 0.7989585399627686, + 6.628355503082275 + ], + [ + 4.604714393615723, + 0.7989206910133362, + 6.628355026245117 + ], + [ + 4.604714870452881, + 0.7990638613700867, + 6.4048919677734375 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|7|7", + "object_info": { + "name": "CellPhone|surface|7|7", + "position": { + "x": 3.974053382873535, + "y": 0.6778425574302673, + "z": 6.960358619689941 + }, + "rotation": { + "x": -0.00013500801287591457, + "y": 89.99984741210938, + "z": -0.0017231490928679705 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 6.365610599517822, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|7|7", + "assetId": "Cellphone_7", + "parentReceptacles": [ + "DiningTable|7|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.048356056213379, + 0.6884995102882385, + 6.998397350311279 + ], + [ + 4.048356056213379, + 0.6884995102882385, + 6.9223198890686035 + ], + [ + 4.048356056213379, + 0.6782152056694031, + 6.998397350311279 + ], + [ + 4.048356056213379, + 0.6782152056694031, + 6.9223198890686035 + ], + [ + 3.8997507095336914, + 0.6884995102882385, + 6.998397350311279 + ], + [ + 3.8997507095336914, + 0.6884995102882385, + 6.9223198890686035 + ], + [ + 3.8997507095336914, + 0.6782152056694031, + 6.998397350311279 + ], + [ + 3.8997507095336914, + 0.6782152056694031, + 6.9223198890686035 + ] + ], + "center": { + "x": 3.974053382873535, + "y": 0.6833573579788208, + "z": 6.960358619689941 + }, + "size": { + "x": 0.1486053466796875, + "y": 0.01028430461883545, + "z": 0.07607746124267578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.048356056213379, + 0.678215503692627, + 6.922320365905762 + ], + [ + 4.048356056213379, + 0.6782177686691284, + 6.998397350311279 + ], + [ + 3.8997507095336914, + 0.6782174110412598, + 6.998396873474121 + ], + [ + 3.8997509479522705, + 0.6782151460647583, + 6.9223198890686035 + ], + [ + 4.048356056213379, + 0.6884972453117371, + 6.9223198890686035 + ], + [ + 4.048356056213379, + 0.6884995102882385, + 6.998396873474121 + ], + [ + 3.8997507095336914, + 0.6884991526603699, + 6.998396396636963 + ], + [ + 3.8997509479522705, + 0.6884968876838684, + 6.9223198890686035 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|3|0", + "object_info": { + "name": "DiningTable|6|3|0", + "position": { + "x": 6.771223545074463, + "y": -0.00013914704322814941, + "z": 2.5194694995880127 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|0", + "Vase|surface|6|1" + ], + "distance": 1.7525538206100464, + "objectType": "DiningTable", + "objectId": "DiningTable|6|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Chair|6|3|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.372919082641602, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 7.372919082641602, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.1358625888824463 + ] + ], + "center": { + "x": 6.771223068237305, + "y": 0.37085530161857605, + "z": 2.5194694995880127 + }, + "size": { + "x": 1.2033920288085938, + "y": 0.7416954636573792, + "z": 0.7672138214111328 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.903076410293579 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|7|8", + "object_info": { + "name": "Plate|surface|7|8", + "position": { + "x": 4.03748083114624, + "y": 0.08857643604278564, + "z": 5.512749195098877 + }, + "rotation": { + "x": -6.807808676967397e-05, + "y": 6.115918949944898e-05, + "z": 0.00039171960088424385 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|7|2" + ], + "distance": 5.389886856079102, + "objectType": "Plate", + "objectId": "Plate|surface|7|8", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|7|2___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.156977653503418, + 0.1154530867934227, + 5.631196022033691 + ], + [ + 4.156977653503418, + 0.1154530867934227, + 5.394298553466797 + ], + [ + 4.156977653503418, + 0.08824866265058517, + 5.631196022033691 + ], + [ + 4.156977653503418, + 0.08824866265058517, + 5.394298553466797 + ], + [ + 3.92008113861084, + 0.1154530867934227, + 5.631196022033691 + ], + [ + 3.92008113861084, + 0.1154530867934227, + 5.394298553466797 + ], + [ + 3.92008113861084, + 0.08824866265058517, + 5.631196022033691 + ], + [ + 3.92008113861084, + 0.08824866265058517, + 5.394298553466797 + ] + ], + "center": { + "x": 4.038529396057129, + "y": 0.10185087472200394, + "z": 5.512747287750244 + }, + "size": { + "x": 0.23689651489257812, + "y": 0.027204424142837524, + "z": 0.23689746856689453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.156977653503418, + 0.08825041353702545, + 5.631196022033691 + ], + [ + 3.920081377029419, + 0.08824878931045532, + 5.631196022033691 + ], + [ + 3.92008113861084, + 0.08824851363897324, + 5.394299030303955 + ], + [ + 4.156977653503418, + 0.08825013041496277, + 5.394298553466797 + ], + [ + 4.156977653503418, + 0.11545317620038986, + 5.631196022033691 + ], + [ + 3.92008113861084, + 0.11545155197381973, + 5.631196022033691 + ], + [ + 3.9200809001922607, + 0.11545126885175705, + 5.394298553466797 + ], + [ + 4.15697717666626, + 0.11545289307832718, + 5.394298553466797 + ] + ] + } + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 11.118658065795898, + "y": 0.007478475570678711, + "z": 3.3662993907928467 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|4" + ], + "distance": 3.2052619457244873, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.453998565673828, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 11.453998565673828, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 2.9309935569763184 + ] + ], + "center": { + "x": 11.095033645629883, + "y": 0.909221887588501, + "z": 3.3659963607788086 + }, + "size": { + "x": 0.7179298400878906, + "y": 1.8184428215026855, + "z": 0.8700056076049805 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|3", + "object_info": { + "name": "Painting|7|3", + "position": { + "x": 3.829557180404663, + "y": 1.570997953414917, + "z": 6.091821193695068 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.894811153411865, + "objectType": "Painting", + "objectId": "Painting|7|3", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.850349187850952, + 1.8763564825057983, + 6.4953742027282715 + ], + [ + 3.850349187850952, + 1.8763564825057983, + 5.68969202041626 + ], + [ + 3.850349187850952, + 1.2632209062576294, + 6.4953742027282715 + ], + [ + 3.850349187850952, + 1.2632209062576294, + 5.68969202041626 + ], + [ + 3.8310000896453857, + 1.8763564825057983, + 6.4953742027282715 + ], + [ + 3.8310000896453857, + 1.8763564825057983, + 5.68969202041626 + ], + [ + 3.8310000896453857, + 1.2632209062576294, + 6.4953742027282715 + ], + [ + 3.8310000896453857, + 1.2632209062576294, + 5.68969202041626 + ] + ], + "center": { + "x": 3.840674638748169, + "y": 1.5697886943817139, + "z": 6.092533111572266 + }, + "size": { + "x": 0.019349098205566406, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|7|9", + "object_info": { + "name": "Laptop|surface|7|9", + "position": { + "x": 4.097652912139893, + "y": 0.6782165169715881, + "z": 7.182280540466309 + }, + "rotation": { + "x": 2.0253814000170678e-05, + "y": 180.0000457763672, + "z": -6.803296128055081e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 6.451279640197754, + "objectType": "Laptop", + "objectId": "Laptop|surface|7|9", + "assetId": "Laptop_14", + "parentReceptacles": [ + "DiningTable|7|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.337945938110352, + 0.7179678082466125, + 7.326529502868652 + ], + [ + 4.337945938110352, + 0.7179678082466125, + 7.037091255187988 + ], + [ + 4.337945938110352, + 0.6782161593437195, + 7.326529502868652 + ], + [ + 4.337945938110352, + 0.6782161593437195, + 7.037091255187988 + ], + [ + 3.8573598861694336, + 0.7179678082466125, + 7.326529502868652 + ], + [ + 3.8573598861694336, + 0.7179678082466125, + 7.037091255187988 + ], + [ + 3.8573598861694336, + 0.6782161593437195, + 7.326529502868652 + ], + [ + 3.8573598861694336, + 0.6782161593437195, + 7.037091255187988 + ] + ], + "center": { + "x": 4.097652912139893, + "y": 0.698091983795166, + "z": 7.18181037902832 + }, + "size": { + "x": 0.48058605194091797, + "y": 0.039751648902893066, + "z": 0.28943824768066406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.8573596477508545, + 0.6782161593437195, + 7.037091255187988 + ], + [ + 4.337945938110352, + 0.6782167553901672, + 7.03709077835083 + ], + [ + 4.337945938110352, + 0.6782168745994568, + 7.326528549194336 + ], + [ + 3.8573601245880127, + 0.678216278553009, + 7.326529026031494 + ], + [ + 3.8573596477508545, + 0.71796715259552, + 7.037091255187988 + ], + [ + 4.337945938110352, + 0.717967689037323, + 7.03709077835083 + ], + [ + 4.337945938110352, + 0.7179678082466125, + 7.326528549194336 + ], + [ + 3.8573598861694336, + 0.7179672122001648, + 7.326529026031494 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 4.344852447509766, + "y": -0.018440067768096924, + "z": 6.738438606262207 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Bowl|surface|7|10", + "Laptop|surface|7|9", + "CellPhone|surface|7|7" + ], + "distance": 6.020102024078369, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 4.838703632354736, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 5.848877906799316 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 5.848877906799316 + ] + ], + "center": { + "x": 4.344852447509766, + "y": 0.3391090929508209, + "z": 6.738438606262207 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001024246216, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001024246216, + 0.6782165169715881, + 5.848877906799316 + ] + ] + } + } + }, + { + "objectId": "TVStand|7|2___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.03748083114624, + "y": 0.08263473212718964, + "z": 5.073814868927002 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Plate|surface|7|8" + ], + "distance": 5.137019634246826, + "objectType": "DiningTable", + "objectId": "TVStand|7|2___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.2026848793029785, + 0.18163445591926575, + 5.674866199493408 + ], + [ + 4.2026848793029785, + 0.18163445591926575, + 4.472763538360596 + ], + [ + 4.2026848793029785, + 0.08242693543434143, + 5.674866199493408 + ], + [ + 4.2026848793029785, + 0.08242693543434143, + 4.472763538360596 + ], + [ + 3.872276782989502, + 0.18163445591926575, + 5.674866199493408 + ], + [ + 3.872276782989502, + 0.18163445591926575, + 4.472763538360596 + ], + [ + 3.872276782989502, + 0.08242693543434143, + 5.674866199493408 + ], + [ + 3.872276782989502, + 0.08242693543434143, + 4.472763538360596 + ] + ], + "center": { + "x": 4.03748083114624, + "y": 0.1320306956768036, + "z": 5.073814868927002 + }, + "size": { + "x": 0.33040809631347656, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|7", + "object_info": { + "name": "Painting|6|7", + "position": { + "x": 9.46800708770752, + "y": 1.941169023513794, + "z": 3.824313163757324 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.245875120162964, + "objectType": "Painting", + "objectId": "Painting|6|7", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.86520767211914, + 2.241990566253662, + 3.8083372116088867 + ], + [ + 9.86520767211914, + 2.241990566253662, + 3.8009629249572754 + ], + [ + 9.86520767211914, + 1.6406073570251465, + 3.8083372116088867 + ], + [ + 9.86520767211914, + 1.6406073570251465, + 3.8009629249572754 + ], + [ + 9.067811965942383, + 2.241990566253662, + 3.8083372116088867 + ], + [ + 9.067811965942383, + 2.241990566253662, + 3.8009629249572754 + ], + [ + 9.067811965942383, + 1.6406073570251465, + 3.8083372116088867 + ], + [ + 9.067811965942383, + 1.6406073570251465, + 3.8009629249572754 + ] + ], + "center": { + "x": 9.466509819030762, + "y": 1.9412989616394043, + "z": 3.804650068283081 + }, + "size": { + "x": 0.7973957061767578, + "y": 0.6013832092285156, + "z": 0.007374286651611328 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|7|2", + "object_info": { + "name": "TVStand|7|2", + "position": { + "x": 4.037482261657715, + "y": 0.0009346157312393188, + "z": 5.073751926422119 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Statue|surface|7|12", + "HousePlant|surface|7|13" + ], + "distance": 5.150630950927734, + "objectType": "TVStand", + "objectId": "TVStand|7|2", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|7|8" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.220876693725586, + 0.45024925470352173, + 5.6926679611206055 + ], + [ + 4.220876693725586, + 0.45024925470352173, + 4.454863548278809 + ], + [ + 4.220876693725586, + 2.384185791015625e-07, + 5.6926679611206055 + ], + [ + 4.220876693725586, + 2.384185791015625e-07, + 4.454863548278809 + ], + [ + 3.8509998321533203, + 0.45024925470352173, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.45024925470352173, + 4.454863548278809 + ], + [ + 3.8509998321533203, + 2.384185791015625e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.384185791015625e-07, + 4.454863548278809 + ] + ], + "center": { + "x": 4.035938262939453, + "y": 0.22512474656105042, + "z": 5.073765754699707 + }, + "size": { + "x": 0.3698768615722656, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.220876216888428, + 2.682209014892578e-07, + 4.454863548278809 + ], + [ + 4.220876216888428, + 2.682209014892578e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.682209014892578e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.682209014892578e-07, + 4.454863548278809 + ], + [ + 4.220876216888428, + 0.4502490758895874, + 4.454863548278809 + ], + [ + 4.220876216888428, + 0.4502490758895874, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.4502490758895874, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.4502490758895874, + 4.454863548278809 + ] + ] + } + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 9.211421012878418, + "y": 0.003310978412628174, + "z": 3.6443896293640137 + }, + "rotation": { + "x": 6.861903239041567e-05, + "y": 341.9659729003906, + "z": -0.0002130199718521908 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 1.9168980121612549, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.32536506652832, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.503091812133789 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.503091812133789 + ] + ], + "center": { + "x": 9.2114839553833, + "y": 0.425205796957016, + "z": 3.6301136016845703 + }, + "size": { + "x": 0.22776222229003906, + "y": 0.850409984588623, + "z": 0.2540435791015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.283507347106934, + -3.1851232051849365e-07, + 3.8010001182556152 + ], + [ + 9.060393333435059, + 5.539041012525558e-07, + 3.7283594608306885 + ], + [ + 9.136246681213379, + 8.472707122564316e-07, + 3.4953770637512207 + ], + [ + 9.359360694885254, + -2.514570951461792e-08, + 3.5680177211761475 + ], + [ + 9.283510208129883, + 0.8504104018211365, + 3.801002025604248 + ], + [ + 9.060396194458008, + 0.8504112362861633, + 3.7283613681793213 + ], + [ + 9.136249542236328, + 0.8504115343093872, + 3.4953789710998535 + ], + [ + 9.359363555908203, + 0.8504106998443604, + 3.5680198669433594 + ] + ] + } + } + }, + { + "objectId": "Painting|7|5", + "object_info": { + "name": "Painting|7|5", + "position": { + "x": 3.830995798110962, + "y": 1.586195468902588, + "z": 7.020560264587402 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 6.538756847381592, + "objectType": "Painting", + "objectId": "Painting|7|5", + "assetId": "Wall_Decor_Photo_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.862740993499756, + 1.869105577468872, + 7.455410003662109 + ], + [ + 3.862740993499756, + 1.869105577468872, + 6.585710525512695 + ], + [ + 3.862740993499756, + 1.3032853603363037, + 7.455410003662109 + ], + [ + 3.862740993499756, + 1.3032853603363037, + 6.585710525512695 + ], + [ + 3.8309998512268066, + 1.869105577468872, + 7.455410003662109 + ], + [ + 3.8309998512268066, + 1.869105577468872, + 6.585710525512695 + ], + [ + 3.8309998512268066, + 1.3032853603363037, + 7.455410003662109 + ], + [ + 3.8309998512268066, + 1.3032853603363037, + 6.585710525512695 + ] + ], + "center": { + "x": 3.8468704223632812, + "y": 1.586195468902588, + "z": 7.020560264587402 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.5658202171325684, + "z": 0.8696994781494141 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 6.271206855773926, + "y": 0.0023636221885681152, + "z": 7.296786308288574 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|11" + ], + "distance": 5.49483585357666, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.110105037689209, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 7.110105037689209, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 6.948600769042969 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 6.948600769042969 + ] + ], + "center": { + "x": 6.271206855773926, + "y": 0.44755420088768005, + "z": 7.288280487060547 + }, + "size": { + "x": 1.6777963638305664, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.432308673858643, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 7.627959728240967 + ] + ] + } + } + }, + { + "objectId": "Book|surface|7|11", + "object_info": { + "name": "Book|surface|7|11", + "position": { + "x": 5.9226393699646, + "y": 0.4221782684326172, + "z": 7.263284206390381 + }, + "rotation": { + "x": -0.004569923505187035, + "y": 270.0001525878906, + "z": 0.07062738388776779 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.547873020172119, + "objectType": "Book", + "objectId": "Book|surface|7|11", + "assetId": "Book_17", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.078849792480469, + 0.4646068811416626, + 7.382892608642578 + ], + [ + 6.078849792480469, + 0.4646068811416626, + 7.140666961669922 + ], + [ + 6.078849792480469, + 0.42240065336227417, + 7.382892608642578 + ], + [ + 6.078849792480469, + 0.42240065336227417, + 7.140666961669922 + ], + [ + 5.76643180847168, + 0.4646068811416626, + 7.382892608642578 + ], + [ + 5.76643180847168, + 0.4646068811416626, + 7.140666961669922 + ], + [ + 5.76643180847168, + 0.42240065336227417, + 7.382892608642578 + ], + [ + 5.76643180847168, + 0.42240065336227417, + 7.140666961669922 + ] + ], + "center": { + "x": 5.922640800476074, + "y": 0.4435037672519684, + "z": 7.26177978515625 + }, + "size": { + "x": 0.31241798400878906, + "y": 0.04220622777938843, + "z": 0.24222564697265625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.766432285308838, + 0.4227187931537628, + 7.382893085479736 + ], + [ + 5.76643180847168, + 0.4224202632904053, + 7.14071798324585 + ], + [ + 6.078845977783203, + 0.42239534854888916, + 7.140717506408691 + ], + [ + 6.0788469314575195, + 0.4226938784122467, + 7.38289213180542 + ], + [ + 5.766435623168945, + 0.46461188793182373, + 7.382841110229492 + ], + [ + 5.766435146331787, + 0.4643133580684662, + 7.140666484832764 + ], + [ + 6.078849792480469, + 0.4642884433269501, + 7.140665531158447 + ], + [ + 6.078850269317627, + 0.4645869731903076, + 7.382840633392334 + ] + ] + } + } + }, + { + "objectId": "TVStand|7|2___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.0374836921691895, + "y": 0.2684445381164551, + "z": 5.073750019073486 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.110673427581787, + "objectType": "DiningTable", + "objectId": "TVStand|7|2___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.202687740325928, + 0.3674442172050476, + 5.674801349639893 + ], + [ + 4.202687740325928, + 0.3674442172050476, + 4.47269868850708 + ], + [ + 4.202687740325928, + 0.26823681592941284, + 5.674801349639893 + ], + [ + 4.202687740325928, + 0.26823681592941284, + 4.47269868850708 + ], + [ + 3.872279644012451, + 0.3674442172050476, + 5.674801349639893 + ], + [ + 3.872279644012451, + 0.3674442172050476, + 4.47269868850708 + ], + [ + 3.872279644012451, + 0.26823681592941284, + 5.674801349639893 + ], + [ + 3.872279644012451, + 0.26823681592941284, + 4.47269868850708 + ] + ], + "center": { + "x": 4.0374836921691895, + "y": 0.3178405165672302, + "z": 5.073750019073486 + }, + "size": { + "x": 0.33040809631347656, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 8.399999618530273, + "y": 0.9009997844696045, + "z": 2.4000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.399999618530273, + "y": 1.5759997367858887, + "z": 2.4000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "HousePlant|6|4|0", + "Fridge|6|1", + "Painting|6|7" + ], + "different_object": [ + "Laptop|surface|7|9", + "Book|surface|7|11", + "CellPhone|surface|7|7", + "TVStand|7|2___0", + "Bowl|surface|7|10", + "TVStand|7|2___1", + "Painting|7|3", + "TVStand|7|2", + "Plate|surface|7|8", + "Painting|7|5", + "DiningTable|6|3|0", + "DiningTable|7|0", + "Sofa|7|1", + "Chair|6|3|1" + ] +} \ No newline at end of file diff --git a/train/train1458/2/1_depth_npy.npy b/train/train1458/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..59cc5d309c4568b78acc97ef2b408acc8560238e --- /dev/null +++ b/train/train1458/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88c41b9caf2069903958c3d1c6836ca66274b6fe8a9769d49572f8184d379fa2 +size 3145856 diff --git a/train/train1458/2/1_semantic_sensor_npy.npy b/train/train1458/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ee94925719b83cc476a3d2d9a2241c603e24cfa --- /dev/null +++ b/train/train1458/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa6ffbcb88588b6fb42635481bffd9c52f7ed328dff7cf27493acf116266215a +size 2359424 diff --git a/train/train1458/2/depth_0.png b/train/train1458/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..65bdd82b684967b95de874d9431978fbd3e987c0 Binary files /dev/null and b/train/train1458/2/depth_0.png differ diff --git a/train/train1458/2/depth_1.png b/train/train1458/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8b67a45ea7308a65e56b8852a069d5d2997b6671 Binary files /dev/null and b/train/train1458/2/depth_1.png differ diff --git a/train/train1458/2/mask_questions.jsonl b/train/train1458/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e2767e783e4f6ae6939f656bad7a5354c9edb5a --- /dev/null +++ b/train/train1458/2/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 9366, "folder_dir": "train1458/2", "pair_name": "0-1:HousePlant|6|4|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Fridge\nC. DishSponge\nD. GarbageBag", "answer": "A", "object_name": "HousePlant", "image_1": "train1458/2/rgb_0.png", "image_2": "train1458/2/rgb_1.png", "mask_image": "train1458/2/rgb_1_mask_HousePlant|6|4|0.png", "options": ["HousePlant", "Fridge", "DishSponge", "GarbageBag"]} +{"id": 9367, "folder_dir": "train1458/2", "pair_name": "0-1:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. HousePlant\nC. PepperShaker\nD. CounterTop", "answer": "A", "object_name": "Fridge", "image_1": "train1458/2/rgb_0.png", "image_2": "train1458/2/rgb_1.png", "mask_image": "train1458/2/rgb_1_mask_Fridge|6|1.png", "options": ["Fridge", "HousePlant", "PepperShaker", "CounterTop"]} +{"id": 9368, "folder_dir": "train1458/2", "pair_name": "0-1:Painting|6|7", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SoapBottle\nB. Painting\nC. CounterTop\nD. HousePlant", "answer": "B", "object_name": "Painting", "image_1": "train1458/2/rgb_0.png", "image_2": "train1458/2/rgb_1.png", "mask_image": "train1458/2/rgb_1_mask_Painting|6|7.png", "options": ["SoapBottle", "Painting", "CounterTop", "HousePlant"]} +{"id": 9369, "folder_dir": "train1458/2", "pair_name": "1-0:HousePlant|6|4|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. HousePlant\nC. CellPhone\nD. DiningTable", "answer": "B", "object_name": "HousePlant", "image_1": "train1458/2/rgb_1.png", "image_2": "train1458/2/rgb_0.png", "mask_image": "train1458/2/rgb_0_mask_HousePlant|6|4|0.png", "options": ["Fridge", "HousePlant", "CellPhone", "DiningTable"]} +{"id": 9370, "folder_dir": "train1458/2", "pair_name": "1-0:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Bowl\nB. HousePlant\nC. Fridge\nD. DiningTable", "answer": "C", "object_name": "Fridge", "image_1": "train1458/2/rgb_1.png", "image_2": "train1458/2/rgb_0.png", "mask_image": "train1458/2/rgb_0_mask_Fridge|6|1.png", "options": ["Bowl", "HousePlant", "Fridge", "DiningTable"]} +{"id": 9371, "folder_dir": "train1458/2", "pair_name": "1-0:Painting|6|7", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. DiningTable\nC. Painting\nD. HousePlant", "answer": "C", "object_name": "Painting", "image_1": "train1458/2/rgb_1.png", "image_2": "train1458/2/rgb_0.png", "mask_image": "train1458/2/rgb_0_mask_Painting|6|7.png", "options": ["Chair", "DiningTable", "Painting", "HousePlant"]} diff --git a/train/train1458/2/questions_distance.jsonl b/train/train1458/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffd54b3df0fd93d936c636f6124cd587bd8b1dc4 --- /dev/null +++ b/train/train1458/2/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 3822, "folder_dir": "train1458/2", "query": "Which of the following objects is closest to HousePlant in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Fridge\nC. GarbageBag\nD. Other\n", "answer": "C", "src_object": "HousePlant", "target_object": "GarbageBag", "question": "Which of the following objects is closest to HousePlant in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Chair", "semantic_id": "Chair|6|3|1", "distance": 2.516005476605536, "com": {"x": 6.7748613357543945, "y": 0.4374740421772003, "z": 3.003213882446289}}, {"text": "Fridge", "semantic_id": "Fridge|6|1", "distance": 1.9625974953010241, "com": {"x": 11.095033645629883, "y": 0.909221887588501, "z": 3.3659963607788086}}, {"text": "GarbageBag", "semantic_id": "GarbageBag|6|5", "distance": 1.6134632444189307, "com": {"x": 9.93228530883789, "y": 0.27866193652153015, "z": 2.194065570831299}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1458/2/rgb_0.png", "image_2": "train1458/2/rgb_1.png"} +{"id": 3823, "folder_dir": "train1458/2", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Window\nC. GarbageBag\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "Window", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "HousePlant", "semantic_id": "HousePlant|6|4|0", "distance": 1.9625974953010241, "com": {"x": 9.2114839553833, "y": 0.425205796957016, "z": 3.6301136016845703}}, {"text": "Window", "semantic_id": "window|6|0", "distance": 1.3803381143528006, "com": {"x": 11.479000091552734, "y": 1.3819793462753296, "z": 2.127285957336426}}, {"text": "GarbageBag", "semantic_id": "GarbageBag|6|5", "distance": 1.7672043806614783, "com": {"x": 9.93228530883789, "y": 0.27866193652153015, "z": 2.194065570831299}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1458/2/rgb_0.png", "image_2": "train1458/2/rgb_1.png"} diff --git a/train/train1458/2/rgb_0.png b/train/train1458/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c5cd30bb20353d1e25ffa7248c9a9f7684fd0acd --- /dev/null +++ b/train/train1458/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6410edcce9813604529d392eb151e777b041f21fccd39786f70ad0de8c75f156 +size 589693 diff --git a/train/train1458/2/rgb_0_mask_Fridge|6|1.png b/train/train1458/2/rgb_0_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..315ef44165a55269d8611f2baed0f6b420b1fd99 --- /dev/null +++ b/train/train1458/2/rgb_0_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c42a9651654e3c1c438b494f25a64c57d4bcb47cd2741c7ff84f26601eaf4202 +size 484609 diff --git a/train/train1458/2/rgb_0_mask_HousePlant|6|4|0.png b/train/train1458/2/rgb_0_mask_HousePlant|6|4|0.png new file mode 100644 index 0000000000000000000000000000000000000000..b6c58ede650a7f17b99014e307253aa282ae606e --- /dev/null +++ b/train/train1458/2/rgb_0_mask_HousePlant|6|4|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fff2693b6baca06698ad029e970297032e8af9c311ba729eee25738c80795401 +size 498029 diff --git a/train/train1458/2/rgb_0_mask_Painting|6|7.png b/train/train1458/2/rgb_0_mask_Painting|6|7.png new file mode 100644 index 0000000000000000000000000000000000000000..f982690c91da51116a22e793633d1ee6854d1d8f --- /dev/null +++ b/train/train1458/2/rgb_0_mask_Painting|6|7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f80cf87e239957e6ac67fa4f85f18bb31adc2803b2d027fdef74325cce9ab56c +size 512690 diff --git a/train/train1458/2/rgb_1.png b/train/train1458/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..026fcfcf148e43ef69d616f17ca91eb960a0ccbe --- /dev/null +++ b/train/train1458/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:401e9ed29360a36bc45cf12598a3e553edddfbfba810602d3f1d028c1f1e86c9 +size 539388 diff --git a/train/train1458/2/rgb_1_mask_Fridge|6|1.png b/train/train1458/2/rgb_1_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..82eb5fb5f5456f904c487e8b6584d5ddade3e031 --- /dev/null +++ b/train/train1458/2/rgb_1_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a860c82b366bf4572088d67bd004a5c0939ab7f346c4cfad4fb719ff54b3cd4 +size 479539 diff --git a/train/train1458/2/rgb_1_mask_HousePlant|6|4|0.png b/train/train1458/2/rgb_1_mask_HousePlant|6|4|0.png new file mode 100644 index 0000000000000000000000000000000000000000..a0899d71737ea6f1762508b3f83d8d962301d508 --- /dev/null +++ b/train/train1458/2/rgb_1_mask_HousePlant|6|4|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb40f952cce931045ee82891819d0fd24d110dd34ed8edfd60e035feca13a7bd +size 468366 diff --git a/train/train1458/2/rgb_1_mask_Painting|6|7.png b/train/train1458/2/rgb_1_mask_Painting|6|7.png new file mode 100644 index 0000000000000000000000000000000000000000..399b3e306fd05b2ca8e1750f6722c11306959c28 --- /dev/null +++ b/train/train1458/2/rgb_1_mask_Painting|6|7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e04b605e3d6a4981e6ab6f8e0e99c4abc003b89f4128f6787e9d4aae831bf9e2 +size 409146 diff --git a/train/train1458/2/semantic_0.png b/train/train1458/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ddd1301a8566c253a02d101ab556953c74d1ec65 Binary files /dev/null and b/train/train1458/2/semantic_0.png differ diff --git a/train/train1458/2/semantic_1.png b/train/train1458/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fef63039db618fcd8357b58741560a50ecdb17c2 Binary files /dev/null and b/train/train1458/2/semantic_1.png differ diff --git a/train/train1458/3/0.json b/train/train1458/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..5b84e9b31d6228709e8edad4f363d91fb6d247ae --- /dev/null +++ b/train/train1458/3/0.json @@ -0,0 +1,730 @@ +{ + "object": [ + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 11.118658065795898, + "y": 0.007478475570678711, + "z": 3.3662993907928467 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|4" + ], + "distance": 3.2052619457244873, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.453998565673828, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 11.453998565673828, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 2.9309935569763184 + ] + ], + "center": { + "x": 11.095033645629883, + "y": 0.909221887588501, + "z": 3.3659963607788086 + }, + "size": { + "x": 0.7179298400878906, + "y": 1.8184428215026855, + "z": 0.8700056076049805 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|6|2", + "object_info": { + "name": "DishSponge|surface|6|2", + "position": { + "x": 10.538559913635254, + "y": 0.9395574927330017, + "z": 0.41021010279655457 + }, + "rotation": { + "x": -1.1185248922629398e-06, + "y": 0.00020105723524466157, + "z": -0.0005334705929271877 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.936634063720703, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|2", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.575339317321777, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.575339317321777, + 0.9635056853294373, + 0.340736985206604 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.4796832203865051 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.340736985206604 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.340736985206604 + ], + [ + 10.50178050994873, + 0.9374659657478333, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9374659657478333, + 0.340736985206604 + ] + ], + "center": { + "x": 10.538559913635254, + "y": 0.9504858255386353, + "z": 0.41021010279655457 + }, + "size": { + "x": 0.07355880737304688, + "y": 0.026039719581604004, + "z": 0.13894623517990112 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.575339317321777, + 0.9374659657478333, + 0.479682981967926 + ], + [ + 10.50178050994873, + 0.9374666810035706, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9374666810035706, + 0.3407372236251831 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.340736985206604 + ], + [ + 10.575339317321777, + 0.9635049700737, + 0.479682981967926 + ], + [ + 10.501781463623047, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.3407372236251831 + ], + [ + 10.575339317321777, + 0.9635049700737, + 0.340736985206604 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|5", + "object_info": { + "name": "GarbageBag|6|5", + "position": { + "x": 9.93146800994873, + "y": -0.0016815364360809326, + "z": 2.1855967044830322 + }, + "rotation": { + "x": 0.0427328422665596, + "y": 270.0003967285156, + "z": 0.37392106652259827 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.909532904624939, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|5", + "assetId": "GarbageBag_21_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.189888000488281, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 10.189888000488281, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 1.9386863708496094 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 1.9386863708496094 + ] + ], + "center": { + "x": 9.93228530883789, + "y": 0.27866193652153015, + "z": 2.194065570831299 + }, + "size": { + "x": 0.5152053833007812, + "y": 0.557325541973114, + "z": 0.5107583999633789 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.674802780151367, + 0.0009304089471697807, + 2.450488805770874 + ], + [ + 9.67480182647705, + -0.002402830170467496, + 1.9397449493408203 + ], + [ + 10.190009117126465, + -0.002018573461100459, + 1.9397414922714233 + ], + [ + 10.190010070800781, + 0.0013146656565368176, + 2.4504852294921875 + ], + [ + 9.674386024475098, + 0.558856725692749, + 2.446847677230835 + ], + [ + 9.674385070800781, + 0.5555235147476196, + 1.9361038208007812 + ], + [ + 10.189592361450195, + 0.5559078454971313, + 1.9361002445220947 + ], + [ + 10.189593315124512, + 0.5592410564422607, + 2.4468441009521484 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.452964782714844, + "y": 5.960464477539063e-08, + "z": 0.025998950004577637 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|surface|6|3", + "PepperShaker|surface|6|5", + "SaltShaker|surface|6|6", + "DishSponge|surface|6|2" + ], + "distance": 4.002120018005371, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_8x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.454000473022461, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 11.454000473022461, + 0.0, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.0, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.0, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.0, + 0.025000035762786865 + ] + ], + "center": { + "x": 10.234277725219727, + "y": 0.46873319149017334, + "z": 0.3302757441997528 + }, + "size": { + "x": 2.4394454956054688, + "y": 0.9374663829803467, + "z": 0.6105514168739319 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 9.211421012878418, + "y": 0.003310978412628174, + "z": 3.6443896293640137 + }, + "rotation": { + "x": 6.861903239041567e-05, + "y": 341.9659729003906, + "z": -0.0002130199718521908 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 1.9168980121612549, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.32536506652832, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.503091812133789 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.503091812133789 + ] + ], + "center": { + "x": 9.2114839553833, + "y": 0.425205796957016, + "z": 3.6301136016845703 + }, + "size": { + "x": 0.22776222229003906, + "y": 0.850409984588623, + "z": 0.2540435791015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.283507347106934, + -3.1851232051849365e-07, + 3.8010001182556152 + ], + [ + 9.060393333435059, + 5.539041012525558e-07, + 3.7283594608306885 + ], + [ + 9.136246681213379, + 8.472707122564316e-07, + 3.4953770637512207 + ], + [ + 9.359360694885254, + -2.514570951461792e-08, + 3.5680177211761475 + ], + [ + 9.283510208129883, + 0.8504104018211365, + 3.801002025604248 + ], + [ + 9.060396194458008, + 0.8504112362861633, + 3.7283613681793213 + ], + [ + 9.136249542236328, + 0.8504115343093872, + 3.4953789710998535 + ], + [ + 9.359363555908203, + 0.8504106998443604, + 3.5680198669433594 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.399999618530273, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.399999618530273, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DishSponge|surface|6|2", + "CounterTop|6|0" + ], + "different_object": [ + "Fridge|6|1", + "HousePlant|6|4|0", + "GarbageBag|6|5" + ] +} \ No newline at end of file diff --git a/train/train1458/3/0_depth_npy.npy b/train/train1458/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0f316a225d1dfb1627890332d32fcbedd908a485 --- /dev/null +++ b/train/train1458/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:746f96b55f2bf96dc3bc9342e7cc54b535c2dbdf74d5212d2c64ff6c7611b6eb +size 3145856 diff --git a/train/train1458/3/0_semantic_sensor_npy.npy b/train/train1458/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35b343f3eb5bb48fd13c084b58f4eb56cc7cac42 --- /dev/null +++ b/train/train1458/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ea082cd94938940bf1d9e7d13c82f6b08b260ba7aa6e23aa69f578257977231 +size 2359424 diff --git a/train/train1458/3/1.json b/train/train1458/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..b70a3e24dc162847086d767deb3597c4e1a7ce63 --- /dev/null +++ b/train/train1458/3/1.json @@ -0,0 +1,1214 @@ +{ + "object": [ + { + "objectId": "Painting|6|9", + "object_info": { + "name": "Painting|6|9", + "position": { + "x": 9.878021240234375, + "y": 1.9315757751464844, + "z": 0.004995772615075111 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.9584765434265137, + "objectType": "Painting", + "objectId": "Painting|6|9", + "assetId": "Wall_Decor_Photo_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.312870979309082, + 2.265005588531494, + 0.036740973591804504 + ], + [ + 10.312870979309082, + 2.265005588531494, + 0.005000002682209015 + ], + [ + 10.312870979309082, + 1.5981459617614746, + 0.036740973591804504 + ], + [ + 10.312870979309082, + 1.5981459617614746, + 0.005000002682209015 + ], + [ + 9.443171501159668, + 2.265005588531494, + 0.036740973591804504 + ], + [ + 9.443171501159668, + 2.265005588531494, + 0.005000002682209015 + ], + [ + 9.443171501159668, + 1.5981459617614746, + 0.036740973591804504 + ], + [ + 9.443171501159668, + 1.5981459617614746, + 0.005000002682209015 + ] + ], + "center": { + "x": 9.878021240234375, + "y": 1.9315757751464844, + "z": 0.02087048813700676 + }, + "size": { + "x": 0.8696994781494141, + "y": 0.6668596267700195, + "z": 0.03174097090959549 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 5.519476890563965, + "y": 0.769607424736023, + "z": 8.866190910339355e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.540553092956543, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.522298812866211, + 1.9888057708740234, + 0.03955516591668129 + ], + [ + 5.522298812866211, + 1.9888057708740234, + -0.03955516591668129 + ], + [ + 5.522298812866211, + 0.7693591117858887, + 0.03955516591668129 + ], + [ + 5.522298812866211, + 0.7693591117858887, + -0.03955516591668129 + ], + [ + 3.992654800415039, + 1.9888057708740234, + 0.03955516591668129 + ], + [ + 3.992654800415039, + 1.9888057708740234, + -0.03955516591668129 + ], + [ + 3.992654800415039, + 0.7693591117858887, + 0.03955516591668129 + ], + [ + 3.992654800415039, + 0.7693591117858887, + -0.03955516591668129 + ] + ], + "center": { + "x": 4.757476806640625, + "y": 1.379082441329956, + "z": 0.0 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194466590881348, + "z": 0.07911033183336258 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|6|1", + "object_info": { + "name": "window|6|1", + "position": { + "x": 7.885621547698975, + "y": 1.0492397546768188, + "z": 7.078051567077637e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.2841286659240723, + "objectType": "Window", + "objectId": "window|6|1", + "assetId": "Window_Hung_48x24", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.887812614440918, + 1.7152926921844482, + 0.12104513496160507 + ], + [ + 7.887812614440918, + 1.7152926921844482, + -0.12104513496160507 + ], + [ + 7.887812614440918, + 1.046208143234253, + 0.12104513496160507 + ], + [ + 7.887812614440918, + 1.046208143234253, + -0.12104513496160507 + ], + [ + 6.613030433654785, + 1.7152926921844482, + 0.12104513496160507 + ], + [ + 6.613030433654785, + 1.7152926921844482, + -0.12104513496160507 + ], + [ + 6.613030433654785, + 1.046208143234253, + 0.12104513496160507 + ], + [ + 6.613030433654785, + 1.046208143234253, + -0.12104513496160507 + ] + ], + "center": { + "x": 7.250421524047852, + "y": 1.3807504177093506, + "z": 0.0 + }, + "size": { + "x": 1.2747821807861328, + "y": 0.6690845489501953, + "z": 0.24209026992321014 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|6|2", + "object_info": { + "name": "DishSponge|surface|6|2", + "position": { + "x": 10.538559913635254, + "y": 0.9395574927330017, + "z": 0.41021010279655457 + }, + "rotation": { + "x": -1.1185248922629398e-06, + "y": 0.00020105723524466157, + "z": -0.0005334705929271877 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.936634063720703, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|2", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.575339317321777, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.575339317321777, + 0.9635056853294373, + 0.340736985206604 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.4796832203865051 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.340736985206604 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.340736985206604 + ], + [ + 10.50178050994873, + 0.9374659657478333, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9374659657478333, + 0.340736985206604 + ] + ], + "center": { + "x": 10.538559913635254, + "y": 0.9504858255386353, + "z": 0.41021010279655457 + }, + "size": { + "x": 0.07355880737304688, + "y": 0.026039719581604004, + "z": 0.13894623517990112 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.575339317321777, + 0.9374659657478333, + 0.479682981967926 + ], + [ + 10.50178050994873, + 0.9374666810035706, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9374666810035706, + 0.3407372236251831 + ], + [ + 10.575339317321777, + 0.9374659657478333, + 0.340736985206604 + ], + [ + 10.575339317321777, + 0.9635049700737, + 0.479682981967926 + ], + [ + 10.501781463623047, + 0.9635056853294373, + 0.4796832203865051 + ], + [ + 10.50178050994873, + 0.9635056853294373, + 0.3407372236251831 + ], + [ + 10.575339317321777, + 0.9635049700737, + 0.340736985206604 + ] + ] + } + } + }, + { + "objectId": "Painting|6|8", + "object_info": { + "name": "Painting|6|8", + "position": { + "x": 10.817353248596191, + "y": 2.028589963912964, + "z": 0.004995772615075111 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.592047691345215, + "objectType": "Painting", + "objectId": "Painting|6|8", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.296127319335938, + 2.3569676876068115, + 0.036740973591804504 + ], + [ + 11.296127319335938, + 2.3569676876068115, + 0.005000002682209015 + ], + [ + 11.296127319335938, + 1.7002122402191162, + 0.036740973591804504 + ], + [ + 11.296127319335938, + 1.7002122402191162, + 0.005000002682209015 + ], + [ + 10.338579177856445, + 2.3569676876068115, + 0.036740973591804504 + ], + [ + 10.338579177856445, + 2.3569676876068115, + 0.005000002682209015 + ], + [ + 10.338579177856445, + 1.7002122402191162, + 0.036740973591804504 + ], + [ + 10.338579177856445, + 1.7002122402191162, + 0.005000002682209015 + ] + ], + "center": { + "x": 10.817353248596191, + "y": 2.028589963912964, + "z": 0.02087048813700676 + }, + "size": { + "x": 0.9575481414794922, + "y": 0.6567554473876953, + "z": 0.03174097090959549 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|surface|6|5", + "object_info": { + "name": "PepperShaker|surface|6|5", + "position": { + "x": 10.843582153320312, + "y": 0.9374663233757019, + "z": 0.3334483206272125 + }, + "rotation": { + "x": 359.991455078125, + "y": -0.0006154038710519671, + "z": 0.0014100500848144293 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.2250843048095703, + "objectType": "PepperShaker", + "objectId": "PepperShaker|surface|6|5", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_pepper_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.863704681396484, + 1.0333644151687622, + 0.3537333607673645 + ], + [ + 10.863704681396484, + 1.0333644151687622, + 0.31314897537231445 + ], + [ + 10.863704681396484, + 0.9374628067016602, + 0.3537333607673645 + ], + [ + 10.863704681396484, + 0.9374628067016602, + 0.31314897537231445 + ], + [ + 10.823457717895508, + 1.0333644151687622, + 0.3537333607673645 + ], + [ + 10.823457717895508, + 1.0333644151687622, + 0.31314897537231445 + ], + [ + 10.823457717895508, + 0.9374628067016602, + 0.3537333607673645 + ], + [ + 10.823457717895508, + 0.9374628067016602, + 0.31314897537231445 + ] + ], + "center": { + "x": 10.843581199645996, + "y": 0.9854136109352112, + "z": 0.3334411680698395 + }, + "size": { + "x": 0.04024696350097656, + "y": 0.09590160846710205, + "z": 0.04058438539505005 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.863703727722168, + 0.9374698400497437, + 0.3537333607673645 + ], + [ + 10.823460578918457, + 0.9374688267707825, + 0.3537329435348511 + ], + [ + 10.823460578918457, + 0.9374628067016602, + 0.31316328048706055 + ], + [ + 10.863703727722168, + 0.9374638199806213, + 0.313163697719574 + ], + [ + 10.863701820373535, + 1.0333644151687622, + 0.3537190854549408 + ], + [ + 10.823457717895508, + 1.0333634614944458, + 0.35371866822242737 + ], + [ + 10.823458671569824, + 1.0333573818206787, + 0.31314900517463684 + ], + [ + 10.863701820373535, + 1.0333583354949951, + 0.31314942240715027 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.452964782714844, + "y": 5.960464477539063e-08, + "z": 0.025998950004577637 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|surface|6|3", + "PepperShaker|surface|6|5", + "SaltShaker|surface|6|6", + "DishSponge|surface|6|2" + ], + "distance": 4.002120018005371, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_8x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.454000473022461, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 11.454000473022461, + 0.0, + 0.6355514526367188 + ], + [ + 11.454000473022461, + 0.0, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.9374663829803467, + 0.025000035762786865 + ], + [ + 9.014554977416992, + 0.0, + 0.6355514526367188 + ], + [ + 9.014554977416992, + 0.0, + 0.025000035762786865 + ] + ], + "center": { + "x": 10.234277725219727, + "y": 0.46873319149017334, + "z": 0.3302757441997528 + }, + "size": { + "x": 2.4394454956054688, + "y": 0.9374663829803467, + "z": 0.6105514168739319 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|surface|6|6", + "object_info": { + "name": "SaltShaker|surface|6|6", + "position": { + "x": 9.623495101928711, + "y": 0.9374663233757019, + "z": 0.25668781995773315 + }, + "rotation": { + "x": 359.9914855957031, + "y": -0.00037353698280639946, + "z": 0.0015037247212603688 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.420973300933838, + "objectType": "SaltShaker", + "objectId": "SaltShaker|surface|6|6", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_salt_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.643617630004883, + 1.0333644151687622, + 0.27697277069091797 + ], + [ + 9.643617630004883, + 1.0333644151687622, + 0.23638862371444702 + ], + [ + 9.643617630004883, + 0.9374626874923706, + 0.27697277069091797 + ], + [ + 9.643617630004883, + 0.9374626874923706, + 0.23638862371444702 + ], + [ + 9.603370666503906, + 1.0333644151687622, + 0.27697277069091797 + ], + [ + 9.603370666503906, + 1.0333644151687622, + 0.23638862371444702 + ], + [ + 9.603370666503906, + 0.9374626874923706, + 0.27697277069091797 + ], + [ + 9.603370666503906, + 0.9374626874923706, + 0.23638862371444702 + ] + ], + "center": { + "x": 9.623494148254395, + "y": 0.9854135513305664, + "z": 0.2566806972026825 + }, + "size": { + "x": 0.04024696350097656, + "y": 0.0959017276763916, + "z": 0.04058414697647095 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.643616676330566, + 0.9374698400497437, + 0.27697277069091797 + ], + [ + 9.603373527526855, + 0.9374688267707825, + 0.27697253227233887 + ], + [ + 9.603373527526855, + 0.9374628067016602, + 0.23640285432338715 + ], + [ + 9.643616676330566, + 0.9374638199806213, + 0.23640312254428864 + ], + [ + 9.643613815307617, + 1.0333644151687622, + 0.27695855498313904 + ], + [ + 9.603370666503906, + 1.0333634614944458, + 0.27695828676223755 + ], + [ + 9.603370666503906, + 1.0333573818206787, + 0.23638862371444702 + ], + [ + 9.643614768981934, + 1.0333584547042847, + 0.2363888919353485 + ] + ] + } + } + }, + { + "objectId": "Stool|6|2", + "object_info": { + "name": "Stool|6|2", + "position": { + "x": 8.324003219604492, + "y": 0.00904420018196106, + "z": 0.2090488076210022 + }, + "rotation": { + "x": 359.9299621582031, + "y": 0.0063713896088302135, + "z": 359.6746520996094 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.180000066757202, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.228574275970459, + "objectType": "Stool", + "objectId": "Stool|6|2", + "assetId": "Stool_3_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.502483367919922, + 0.5860762000083923, + 0.3932006359100342 + ], + [ + 8.502483367919922, + 0.5860762000083923, + 0.025002017617225647 + ], + [ + 8.502483367919922, + -3.93986701965332e-05, + 0.3932006359100342 + ], + [ + 8.502483367919922, + -3.93986701965332e-05, + 0.025002017617225647 + ], + [ + 8.145734786987305, + 0.5860762000083923, + 0.3932006359100342 + ], + [ + 8.145734786987305, + 0.5860762000083923, + 0.025002017617225647 + ], + [ + 8.145734786987305, + -3.93986701965332e-05, + 0.3932006359100342 + ], + [ + 8.145734786987305, + -3.93986701965332e-05, + 0.025002017617225647 + ] + ], + "center": { + "x": 8.324109077453613, + "y": 0.2930184006690979, + "z": 0.2091013342142105 + }, + "size": { + "x": 0.3567485809326172, + "y": 0.5861155986785889, + "z": 0.3681986331939697 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.502488136291504, + -0.00100801233202219, + 0.3931810259819031 + ], + [ + 8.145742416381836, + 0.0010178247466683388, + 0.3932182192802429 + ], + [ + 8.14570140838623, + 0.0005676886066794395, + 0.025026023387908936 + ], + [ + 8.502447128295898, + -0.0014581484720110893, + 0.024988830089569092 + ], + [ + 8.505812644958496, + 0.5844511985778809, + 0.39246493577957153 + ], + [ + 8.149066925048828, + 0.5864770412445068, + 0.3925021290779114 + ], + [ + 8.149025917053223, + 0.5860269069671631, + 0.02430988848209381 + ], + [ + 8.50577163696289, + 0.5840010643005371, + 0.024272695183753967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.300000190734863, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.300000190734863, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DishSponge|surface|6|2", + "CounterTop|6|0" + ], + "different_object": [ + "Painting|6|9", + "SaltShaker|surface|6|6", + "window|6|1", + "Painting|6|8", + "window|7|0", + "Stool|6|2", + "PepperShaker|surface|6|5" + ] +} \ No newline at end of file diff --git a/train/train1458/3/1_depth_npy.npy b/train/train1458/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5b02f9c01dacabc0f1a292ecb208d48e33f18eca --- /dev/null +++ b/train/train1458/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd35592480234e2f88725a7f3ed915c6d4a21451a7179fd4dd0b451ab9516b31 +size 3145856 diff --git a/train/train1458/3/1_semantic_sensor_npy.npy b/train/train1458/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..69c940773c90041968c30710bd82210e54173fc5 --- /dev/null +++ b/train/train1458/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62b8ef68247bc28374b7791ab96028d54de206e61a59f2e3bf7a94922a214981 +size 2359424 diff --git a/train/train1458/3/depth_0.png b/train/train1458/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a598b828a0876082c3d99b30a4cc45665a90152c Binary files /dev/null and b/train/train1458/3/depth_0.png differ diff --git a/train/train1458/3/depth_1.png b/train/train1458/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..564343fe4d5e73a3191efe89e6878a9ee6157487 Binary files /dev/null and b/train/train1458/3/depth_1.png differ diff --git a/train/train1458/3/mask_questions.jsonl b/train/train1458/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1458/3/questions_direction.jsonl b/train/train1458/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45e0cbed90349484a68eafaf3a6b2369f3c6a2ed --- /dev/null +++ b/train/train1458/3/questions_direction.jsonl @@ -0,0 +1,12 @@ +{"id": 15182, "folder_dir": "train1458/3", "pair_name": "Fridge-PepperShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. Where is the centroid position of PepperShaker in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Fridge", "tgt_object": "PepperShaker", "src_com": {"x": 11.095033645629883, "y": 0.909221887588501, "z": 3.3659963607788086}, "tgt_com": {"x": 10.843581199645996, "y": 0.9854136109352112, "z": 0.3334411680698395}, "agent_pos": {"x": 8.399999618530273, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_0.png", "image_2": "train1458/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15183, "folder_dir": "train1458/3", "pair_name": "Fridge-Stool", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. Where is the centroid position of Stool in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Fridge", "tgt_object": "Stool", "src_com": {"x": 11.095033645629883, "y": 0.909221887588501, "z": 3.3659963607788086}, "tgt_com": {"x": 8.324109077453613, "y": 0.2930184006690979, "z": 0.2091013342142105}, "agent_pos": {"x": 8.399999618530273, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_0.png", "image_2": "train1458/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15184, "folder_dir": "train1458/3", "pair_name": "GarbageBag-PepperShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageBag. Where is the centroid position of PepperShaker in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "GarbageBag", "tgt_object": "PepperShaker", "src_com": {"x": 9.93228530883789, "y": 0.27866193652153015, "z": 2.194065570831299}, "tgt_com": {"x": 10.843581199645996, "y": 0.9854136109352112, "z": 0.3334411680698395}, "agent_pos": {"x": 8.399999618530273, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_0.png", "image_2": "train1458/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15185, "folder_dir": "train1458/3", "pair_name": "GarbageBag-SaltShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageBag. Where is the centroid position of SaltShaker in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "GarbageBag", "tgt_object": "SaltShaker", "src_com": {"x": 9.93228530883789, "y": 0.27866193652153015, "z": 2.194065570831299}, "tgt_com": {"x": 9.623494148254395, "y": 0.9854135513305664, "z": 0.2566806972026825}, "agent_pos": {"x": 8.399999618530273, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_0.png", "image_2": "train1458/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15186, "folder_dir": "train1458/3", "pair_name": "HousePlant-SaltShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of HousePlant. Where is the centroid position of SaltShaker in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "HousePlant", "tgt_object": "SaltShaker", "src_com": {"x": 9.2114839553833, "y": 0.425205796957016, "z": 3.6301136016845703}, "tgt_com": {"x": 9.623494148254395, "y": 0.9854135513305664, "z": 0.2566806972026825}, "agent_pos": {"x": 8.399999618530273, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_0.png", "image_2": "train1458/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15187, "folder_dir": "train1458/3", "pair_name": "HousePlant-Stool", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of HousePlant. Where is the centroid position of Stool in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "HousePlant", "tgt_object": "Stool", "src_com": {"x": 9.2114839553833, "y": 0.425205796957016, "z": 3.6301136016845703}, "tgt_com": {"x": 8.324109077453613, "y": 0.2930184006690979, "z": 0.2091013342142105}, "agent_pos": {"x": 8.399999618530273, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_0.png", "image_2": "train1458/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15188, "folder_dir": "train1458/3", "pair_name": "PepperShaker-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of PepperShaker. Where is the centroid position of Fridge in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "PepperShaker", "tgt_object": "Fridge", "src_com": {"x": 10.843581199645996, "y": 0.9854136109352112, "z": 0.3334411680698395}, "tgt_com": {"x": 11.095033645629883, "y": 0.909221887588501, "z": 3.3659963607788086}, "agent_pos": {"x": 8.300000190734863, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_1.png", "image_2": "train1458/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15189, "folder_dir": "train1458/3", "pair_name": "PepperShaker-GarbageBag", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of PepperShaker. Where is the centroid position of GarbageBag in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "PepperShaker", "tgt_object": "GarbageBag", "src_com": {"x": 10.843581199645996, "y": 0.9854136109352112, "z": 0.3334411680698395}, "tgt_com": {"x": 9.93228530883789, "y": 0.27866193652153015, "z": 2.194065570831299}, "agent_pos": {"x": 8.300000190734863, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_1.png", "image_2": "train1458/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15190, "folder_dir": "train1458/3", "pair_name": "SaltShaker-GarbageBag", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SaltShaker. Where is the centroid position of GarbageBag in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "SaltShaker", "tgt_object": "GarbageBag", "src_com": {"x": 9.623494148254395, "y": 0.9854135513305664, "z": 0.2566806972026825}, "tgt_com": {"x": 9.93228530883789, "y": 0.27866193652153015, "z": 2.194065570831299}, "agent_pos": {"x": 8.300000190734863, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_1.png", "image_2": "train1458/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15191, "folder_dir": "train1458/3", "pair_name": "SaltShaker-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SaltShaker. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "SaltShaker", "tgt_object": "HousePlant", "src_com": {"x": 9.623494148254395, "y": 0.9854135513305664, "z": 0.2566806972026825}, "tgt_com": {"x": 9.2114839553833, "y": 0.425205796957016, "z": 3.6301136016845703}, "agent_pos": {"x": 8.300000190734863, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_1.png", "image_2": "train1458/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15192, "folder_dir": "train1458/3", "pair_name": "Stool-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Stool. Where is the centroid position of Fridge in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Stool", "tgt_object": "Fridge", "src_com": {"x": 8.324109077453613, "y": 0.2930184006690979, "z": 0.2091013342142105}, "tgt_com": {"x": 11.095033645629883, "y": 0.909221887588501, "z": 3.3659963607788086}, "agent_pos": {"x": 8.300000190734863, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_1.png", "image_2": "train1458/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15193, "folder_dir": "train1458/3", "pair_name": "Stool-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Stool. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Stool", "tgt_object": "HousePlant", "src_com": {"x": 8.324109077453613, "y": 0.2930184006690979, "z": 0.2091013342142105}, "tgt_com": {"x": 9.2114839553833, "y": 0.425205796957016, "z": 3.6301136016845703}, "agent_pos": {"x": 8.300000190734863, "y": 1.5759997367858887, "z": 2.299999952316284}, "image_1": "train1458/3/rgb_1.png", "image_2": "train1458/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train1458/3/questions_distance.jsonl b/train/train1458/3/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe82565b42e2dd329093f223c96567313e2c071e --- /dev/null +++ b/train/train1458/3/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 3820, "folder_dir": "train1458/3", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SaltShaker\nB. PepperShaker\nC. DishSponge\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "DishSponge", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "SaltShaker", "semantic_id": "SaltShaker|surface|6|6", "distance": 0.803387455140958, "com": {"x": 9.623494148254395, "y": 0.9854135513305664, "z": 0.2566806972026825}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|surface|6|5", "distance": 0.7988863496731567, "com": {"x": 10.843581199645996, "y": 0.9854136109352112, "z": 0.3334411680698395}}, {"text": "DishSponge", "semantic_id": "DishSponge|surface|6|2", "distance": 0.5753805282453134, "com": {"x": 10.538559913635254, "y": 0.9504858255386353, "z": 0.41021010279655457}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1458/3/rgb_0.png", "image_2": "train1458/3/rgb_1.png"} diff --git a/train/train1458/3/rgb_0.png b/train/train1458/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a288ba57014ae25a4f4b9faf95c73da62efe0533 --- /dev/null +++ b/train/train1458/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccfd3b1bfc401bd8b2c35b797258881997a5de4f831686d21d8e8652b4c36417 +size 632798 diff --git a/train/train1458/3/rgb_1.png b/train/train1458/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9998ae02e912dd867d7f653d29c70e6618aa7bca --- /dev/null +++ b/train/train1458/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd7ad1aa5d001213e9aba33ac2d31ecd21225d0481374a1526221d01bc8aefd3 +size 589990 diff --git a/train/train1458/3/semantic_0.png b/train/train1458/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..531b5bf95243606253e4e7cf375a9190890731a3 Binary files /dev/null and b/train/train1458/3/semantic_0.png differ diff --git a/train/train1458/3/semantic_1.png b/train/train1458/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3b34b162198398793ed28e77c26105363d10f31c Binary files /dev/null and b/train/train1458/3/semantic_1.png differ diff --git a/train/train1458/4/0.json b/train/train1458/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..11d7be3fff128311a98fa6ad618fe128154b5354 --- /dev/null +++ b/train/train1458/4/0.json @@ -0,0 +1,3518 @@ +{ + "object": [ + { + "objectId": "Chair|6|3|1", + "object_info": { + "name": "Chair|6|3|1", + "position": { + "x": 6.781373023986816, + "y": 0.0005902945995330811, + "z": 2.9786036014556885 + }, + "rotation": { + "x": -0.0, + "y": 171.00523376464844, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|6|3|0" + ], + "distance": 1.8704185485839844, + "objectType": "Chair", + "objectId": "Chair|6|3|1", + "assetId": "Chair_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.005563735961914, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 7.005563735961914, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 2.747330665588379 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 2.747330665588379 + ] + ], + "center": { + "x": 6.7748613357543945, + "y": 0.4374740421772003, + "z": 3.003213882446289 + }, + "size": { + "x": 0.46140480041503906, + "y": 0.8749387264251709, + "z": 0.5117664337158203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.601893424987793, + 4.708766937255859e-06, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 4.708766937255859e-06, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 4.708766937255859e-06, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 4.708766937255859e-06, + 3.2015936374664307 + ], + [ + 6.601893424987793, + 0.8749431371688843, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 0.8749431371688843, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 0.8749431371688843, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 0.8749431371688843, + 3.2015936374664307 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|7|10", + "object_info": { + "name": "Bowl|surface|7|10", + "position": { + "x": 4.715648651123047, + "y": 0.6791813969612122, + "z": 6.516529083251953 + }, + "rotation": { + "x": 359.99029541015625, + "y": 89.99987030029297, + "z": 0.036698777228593826 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 5.544737339019775, + "objectType": "Bowl", + "objectId": "Bowl|surface|7|10", + "assetId": "Bowl_7", + "parentReceptacles": [ + "DiningTable|7|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.828143119812012, + 0.7990838289260864, + 6.628349304199219 + ], + [ + 4.828143119812012, + 0.7990838289260864, + 6.404886245727539 + ], + [ + 4.828143119812012, + 0.678216814994812, + 6.628349304199219 + ], + [ + 4.828143119812012, + 0.678216814994812, + 6.404886245727539 + ], + [ + 4.6047163009643555, + 0.7990838289260864, + 6.628349304199219 + ], + [ + 4.6047163009643555, + 0.7990838289260864, + 6.404886245727539 + ], + [ + 4.6047163009643555, + 0.678216814994812, + 6.628349304199219 + ], + [ + 4.6047163009643555, + 0.678216814994812, + 6.404886245727539 + ] + ], + "center": { + "x": 4.716429710388184, + "y": 0.7386503219604492, + "z": 6.516617774963379 + }, + "size": { + "x": 0.22342681884765625, + "y": 0.12086701393127441, + "z": 0.2234630584716797 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.828161716461182, + 0.678358256816864, + 6.404815196990967 + ], + [ + 4.828161239624023, + 0.6782150864601135, + 6.6282782554626465 + ], + [ + 4.604734897613525, + 0.6781772971153259, + 6.628277778625488 + ], + [ + 4.604735374450684, + 0.6783204674720764, + 6.404814720153809 + ], + [ + 4.828141212463379, + 0.7991016507148743, + 6.404892444610596 + ], + [ + 4.828140735626221, + 0.7989585399627686, + 6.628355503082275 + ], + [ + 4.604714393615723, + 0.7989206910133362, + 6.628355026245117 + ], + [ + 4.604714870452881, + 0.7990638613700867, + 6.4048919677734375 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|7|7", + "object_info": { + "name": "CellPhone|surface|7|7", + "position": { + "x": 3.974053382873535, + "y": 0.6778425574302673, + "z": 6.960358619689941 + }, + "rotation": { + "x": -0.00013500801287591457, + "y": 89.99984741210938, + "z": -0.0017231490928679705 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 6.365610599517822, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|7|7", + "assetId": "Cellphone_7", + "parentReceptacles": [ + "DiningTable|7|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.048356056213379, + 0.6884995102882385, + 6.998397350311279 + ], + [ + 4.048356056213379, + 0.6884995102882385, + 6.9223198890686035 + ], + [ + 4.048356056213379, + 0.6782152056694031, + 6.998397350311279 + ], + [ + 4.048356056213379, + 0.6782152056694031, + 6.9223198890686035 + ], + [ + 3.8997507095336914, + 0.6884995102882385, + 6.998397350311279 + ], + [ + 3.8997507095336914, + 0.6884995102882385, + 6.9223198890686035 + ], + [ + 3.8997507095336914, + 0.6782152056694031, + 6.998397350311279 + ], + [ + 3.8997507095336914, + 0.6782152056694031, + 6.9223198890686035 + ] + ], + "center": { + "x": 3.974053382873535, + "y": 0.6833573579788208, + "z": 6.960358619689941 + }, + "size": { + "x": 0.1486053466796875, + "y": 0.01028430461883545, + "z": 0.07607746124267578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.048356056213379, + 0.678215503692627, + 6.922320365905762 + ], + [ + 4.048356056213379, + 0.6782177686691284, + 6.998397350311279 + ], + [ + 3.8997507095336914, + 0.6782174110412598, + 6.998396873474121 + ], + [ + 3.8997509479522705, + 0.6782151460647583, + 6.9223198890686035 + ], + [ + 4.048356056213379, + 0.6884972453117371, + 6.9223198890686035 + ], + [ + 4.048356056213379, + 0.6884995102882385, + 6.998396873474121 + ], + [ + 3.8997507095336914, + 0.6884991526603699, + 6.998396396636963 + ], + [ + 3.8997509479522705, + 0.6884968876838684, + 6.9223198890686035 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|6|1", + "object_info": { + "name": "Vase|surface|6|1", + "position": { + "x": 7.068648338317871, + "y": 0.7408308386802673, + "z": 2.612952709197998 + }, + "rotation": { + "x": 0.019188301637768745, + "y": 180.00320434570312, + "z": 0.014039966277778149 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.246186375617981, + "objectType": "Vase", + "objectId": "Vase|surface|6|1", + "assetId": "Vase_Open_2", + "parentReceptacles": [ + "DiningTable|6|3|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.163296699523926, + 0.9857940673828125, + 2.7075347900390625 + ], + [ + 7.163296699523926, + 0.9857940673828125, + 2.5182886123657227 + ], + [ + 7.163296699523926, + 0.7416925430297852, + 2.7075347900390625 + ], + [ + 7.163296699523926, + 0.7416925430297852, + 2.5182886123657227 + ], + [ + 6.974059104919434, + 0.9857940673828125, + 2.7075347900390625 + ], + [ + 6.974059104919434, + 0.9857940673828125, + 2.5182886123657227 + ], + [ + 6.974059104919434, + 0.7416925430297852, + 2.7075347900390625 + ], + [ + 6.974059104919434, + 0.7416925430297852, + 2.5182886123657227 + ] + ], + "center": { + "x": 7.06867790222168, + "y": 0.8637433052062988, + "z": 2.6129117012023926 + }, + "size": { + "x": 0.1892375946044922, + "y": 0.24410152435302734, + "z": 0.18924617767333984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.974036693572998, + 0.7417077422142029, + 2.5183513164520264 + ], + [ + 7.163249492645264, + 0.7416613698005676, + 2.518340826034546 + ], + [ + 7.163260459899902, + 0.7417247891426086, + 2.7075536251068115 + ], + [ + 6.974047660827637, + 0.7417711615562439, + 2.707564115524292 + ], + [ + 6.974096775054932, + 0.9857537746429443, + 2.5182695388793945 + ], + [ + 7.163309574127197, + 0.9857074022293091, + 2.518259048461914 + ], + [ + 7.163320064544678, + 0.9857707619667053, + 2.7074718475341797 + ], + [ + 6.974107265472412, + 0.9858171343803406, + 2.70748233795166 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|3|0", + "object_info": { + "name": "DiningTable|6|3|0", + "position": { + "x": 6.771223545074463, + "y": -0.00013914704322814941, + "z": 2.5194694995880127 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|0", + "Vase|surface|6|1" + ], + "distance": 1.7525538206100464, + "objectType": "DiningTable", + "objectId": "DiningTable|6|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Chair|6|3|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.372919082641602, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 7.372919082641602, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.1358625888824463 + ] + ], + "center": { + "x": 6.771223068237305, + "y": 0.37085530161857605, + "z": 2.5194694995880127 + }, + "size": { + "x": 1.2033920288085938, + "y": 0.7416954636573792, + "z": 0.7672138214111328 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.903076410293579 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|7|8", + "object_info": { + "name": "Plate|surface|7|8", + "position": { + "x": 4.03748083114624, + "y": 0.08857643604278564, + "z": 5.512749195098877 + }, + "rotation": { + "x": -6.807808676967397e-05, + "y": 6.115918949944898e-05, + "z": 0.00039171960088424385 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|7|2" + ], + "distance": 5.389886856079102, + "objectType": "Plate", + "objectId": "Plate|surface|7|8", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|7|2___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.156977653503418, + 0.1154530867934227, + 5.631196022033691 + ], + [ + 4.156977653503418, + 0.1154530867934227, + 5.394298553466797 + ], + [ + 4.156977653503418, + 0.08824866265058517, + 5.631196022033691 + ], + [ + 4.156977653503418, + 0.08824866265058517, + 5.394298553466797 + ], + [ + 3.92008113861084, + 0.1154530867934227, + 5.631196022033691 + ], + [ + 3.92008113861084, + 0.1154530867934227, + 5.394298553466797 + ], + [ + 3.92008113861084, + 0.08824866265058517, + 5.631196022033691 + ], + [ + 3.92008113861084, + 0.08824866265058517, + 5.394298553466797 + ] + ], + "center": { + "x": 4.038529396057129, + "y": 0.10185087472200394, + "z": 5.512747287750244 + }, + "size": { + "x": 0.23689651489257812, + "y": 0.027204424142837524, + "z": 0.23689746856689453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.156977653503418, + 0.08825041353702545, + 5.631196022033691 + ], + [ + 3.920081377029419, + 0.08824878931045532, + 5.631196022033691 + ], + [ + 3.92008113861084, + 0.08824851363897324, + 5.394299030303955 + ], + [ + 4.156977653503418, + 0.08825013041496277, + 5.394298553466797 + ], + [ + 4.156977653503418, + 0.11545317620038986, + 5.631196022033691 + ], + [ + 3.92008113861084, + 0.11545155197381973, + 5.631196022033691 + ], + [ + 3.9200809001922607, + 0.11545126885175705, + 5.394298553466797 + ], + [ + 4.15697717666626, + 0.11545289307832718, + 5.394298553466797 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 0.5942830443382263, + "y": 0.006915569305419922, + "z": 0.9182116389274597 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|2|0|1" + ], + "distance": 7.821959495544434, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "Bed_18_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1747989654541016, + 1.5835180282592773, + 1.8843246698379517 + ], + [ + 1.1747989654541016, + 1.5835180282592773, + 0.025000333786010742 + ], + [ + 1.1747989654541016, + 2.384185791015625e-07, + 1.8843246698379517 + ], + [ + 1.1747989654541016, + 2.384185791015625e-07, + 0.025000333786010742 + ], + [ + 0.025000333786010742, + 1.5835180282592773, + 1.8843246698379517 + ], + [ + 0.025000333786010742, + 1.5835180282592773, + 0.025000333786010742 + ], + [ + 0.025000333786010742, + 2.384185791015625e-07, + 1.8843246698379517 + ], + [ + 0.025000333786010742, + 2.384185791015625e-07, + 0.025000333786010742 + ] + ], + "center": { + "x": 0.5998996496200562, + "y": 0.7917591333389282, + "z": 0.9546625018119812 + }, + "size": { + "x": 1.1497986316680908, + "y": 1.5835177898406982, + "z": 1.859324336051941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.1747989654541016, + 2.384185791015625e-07, + 1.8843247890472412 + ], + [ + 0.025000274181365967, + 2.384185791015625e-07, + 1.8843247890472412 + ], + [ + 0.025000274181365967, + 2.384185791015625e-07, + 0.025000333786010742 + ], + [ + 1.1747989654541016, + 2.384185791015625e-07, + 0.025000333786010742 + ], + [ + 1.1747989654541016, + 1.5835180282592773, + 1.8843247890472412 + ], + [ + 0.025000274181365967, + 1.5835180282592773, + 1.8843247890472412 + ], + [ + 0.025000274181365967, + 1.5835180282592773, + 0.025000333786010742 + ], + [ + 1.1747989654541016, + 1.5835180282592773, + 0.025000333786010742 + ] + ] + } + } + }, + { + "objectId": "Painting|7|3", + "object_info": { + "name": "Painting|7|3", + "position": { + "x": 3.829557180404663, + "y": 1.570997953414917, + "z": 6.091821193695068 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.894811153411865, + "objectType": "Painting", + "objectId": "Painting|7|3", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.850349187850952, + 1.8763564825057983, + 6.4953742027282715 + ], + [ + 3.850349187850952, + 1.8763564825057983, + 5.68969202041626 + ], + [ + 3.850349187850952, + 1.2632209062576294, + 6.4953742027282715 + ], + [ + 3.850349187850952, + 1.2632209062576294, + 5.68969202041626 + ], + [ + 3.8310000896453857, + 1.8763564825057983, + 6.4953742027282715 + ], + [ + 3.8310000896453857, + 1.8763564825057983, + 5.68969202041626 + ], + [ + 3.8310000896453857, + 1.2632209062576294, + 6.4953742027282715 + ], + [ + 3.8310000896453857, + 1.2632209062576294, + 5.68969202041626 + ] + ], + "center": { + "x": 3.840674638748169, + "y": 1.5697886943817139, + "z": 6.092533111572266 + }, + "size": { + "x": 0.019349098205566406, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 0.005872816313058138, + "y": 1.2480601072311401, + "z": 2.9152426719665527 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 8.278202056884766, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.020999349653720856, + 1.6214137077331543, + 3.293553352355957 + ], + [ + 0.020999349653720856, + 1.6214137077331543, + 2.536843776702881 + ], + [ + 0.020999349653720856, + 0.8756070137023926, + 3.293553352355957 + ], + [ + 0.020999349653720856, + 0.8756070137023926, + 2.536843776702881 + ], + [ + 0.004999957978725433, + 1.6214137077331543, + 3.293553352355957 + ], + [ + 0.004999957978725433, + 1.6214137077331543, + 2.536843776702881 + ], + [ + 0.004999957978725433, + 0.8756070137023926, + 3.293553352355957 + ], + [ + 0.004999957978725433, + 0.8756070137023926, + 2.536843776702881 + ] + ], + "center": { + "x": 0.012999653816223145, + "y": 1.2485103607177734, + "z": 2.915198564529419 + }, + "size": { + "x": 0.015999391674995422, + "y": 0.7458066940307617, + "z": 0.7567095756530762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 5.519476890563965, + "y": 0.769607424736023, + "z": 8.866190910339355e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.540553092956543, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.522298812866211, + 1.9888057708740234, + 0.03955516591668129 + ], + [ + 5.522298812866211, + 1.9888057708740234, + -0.03955516591668129 + ], + [ + 5.522298812866211, + 0.7693591117858887, + 0.03955516591668129 + ], + [ + 5.522298812866211, + 0.7693591117858887, + -0.03955516591668129 + ], + [ + 3.992654800415039, + 1.9888057708740234, + 0.03955516591668129 + ], + [ + 3.992654800415039, + 1.9888057708740234, + -0.03955516591668129 + ], + [ + 3.992654800415039, + 0.7693591117858887, + 0.03955516591668129 + ], + [ + 3.992654800415039, + 0.7693591117858887, + -0.03955516591668129 + ] + ], + "center": { + "x": 4.757476806640625, + "y": 1.379082441329956, + "z": 0.0 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194466590881348, + "z": 0.07911033183336258 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 3.829454183578491, + "y": -0.0006060600280761719, + "z": 3.0801100730895996 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.587286472320557, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_Double_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.72439432144165, + 2.0728211402893066, + 3.100670337677002 + ], + [ + 4.72439432144165, + 2.0728211402893066, + 1.1431097984313965 + ], + [ + 4.72439432144165, + -2.384185791015625e-07, + 3.100670337677002 + ], + [ + 4.72439432144165, + -2.384185791015625e-07, + 1.1431097984313965 + ], + [ + 3.7527995109558105, + 2.0728211402893066, + 3.100670337677002 + ], + [ + 3.7527995109558105, + 2.0728211402893066, + 1.1431097984313965 + ], + [ + 3.7527995109558105, + -2.384185791015625e-07, + 3.100670337677002 + ], + [ + 3.7527995109558105, + -2.384185791015625e-07, + 1.1431097984313965 + ] + ], + "center": { + "x": 4.2385969161987305, + "y": 1.0364104509353638, + "z": 2.121890068054199 + }, + "size": { + "x": 0.9715948104858398, + "y": 2.0728213787078857, + "z": 1.9575605392456055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|7|9", + "object_info": { + "name": "Laptop|surface|7|9", + "position": { + "x": 4.097652912139893, + "y": 0.6782165169715881, + "z": 7.182280540466309 + }, + "rotation": { + "x": 2.0253814000170678e-05, + "y": 180.0000457763672, + "z": -6.803296128055081e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 6.451279640197754, + "objectType": "Laptop", + "objectId": "Laptop|surface|7|9", + "assetId": "Laptop_14", + "parentReceptacles": [ + "DiningTable|7|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.337945938110352, + 0.7179678082466125, + 7.326529502868652 + ], + [ + 4.337945938110352, + 0.7179678082466125, + 7.037091255187988 + ], + [ + 4.337945938110352, + 0.6782161593437195, + 7.326529502868652 + ], + [ + 4.337945938110352, + 0.6782161593437195, + 7.037091255187988 + ], + [ + 3.8573598861694336, + 0.7179678082466125, + 7.326529502868652 + ], + [ + 3.8573598861694336, + 0.7179678082466125, + 7.037091255187988 + ], + [ + 3.8573598861694336, + 0.6782161593437195, + 7.326529502868652 + ], + [ + 3.8573598861694336, + 0.6782161593437195, + 7.037091255187988 + ] + ], + "center": { + "x": 4.097652912139893, + "y": 0.698091983795166, + "z": 7.18181037902832 + }, + "size": { + "x": 0.48058605194091797, + "y": 0.039751648902893066, + "z": 0.28943824768066406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.8573596477508545, + 0.6782161593437195, + 7.037091255187988 + ], + [ + 4.337945938110352, + 0.6782167553901672, + 7.03709077835083 + ], + [ + 4.337945938110352, + 0.6782168745994568, + 7.326528549194336 + ], + [ + 3.8573601245880127, + 0.678216278553009, + 7.326529026031494 + ], + [ + 3.8573596477508545, + 0.71796715259552, + 7.037091255187988 + ], + [ + 4.337945938110352, + 0.717967689037323, + 7.03709077835083 + ], + [ + 4.337945938110352, + 0.7179678082466125, + 7.326528549194336 + ], + [ + 3.8573598861694336, + 0.7179672122001648, + 7.326529026031494 + ] + ] + } + } + }, + { + "objectId": "window|6|1", + "object_info": { + "name": "window|6|1", + "position": { + "x": 7.885621547698975, + "y": 1.0492397546768188, + "z": 7.078051567077637e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.2841286659240723, + "objectType": "Window", + "objectId": "window|6|1", + "assetId": "Window_Hung_48x24", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.887812614440918, + 1.7152926921844482, + 0.12104513496160507 + ], + [ + 7.887812614440918, + 1.7152926921844482, + -0.12104513496160507 + ], + [ + 7.887812614440918, + 1.046208143234253, + 0.12104513496160507 + ], + [ + 7.887812614440918, + 1.046208143234253, + -0.12104513496160507 + ], + [ + 6.613030433654785, + 1.7152926921844482, + 0.12104513496160507 + ], + [ + 6.613030433654785, + 1.7152926921844482, + -0.12104513496160507 + ], + [ + 6.613030433654785, + 1.046208143234253, + 0.12104513496160507 + ], + [ + 6.613030433654785, + 1.046208143234253, + -0.12104513496160507 + ] + ], + "center": { + "x": 7.250421524047852, + "y": 1.3807504177093506, + "z": 0.0 + }, + "size": { + "x": 1.2747821807861328, + "y": 0.6690845489501953, + "z": 0.24209026992321014 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 4.344852447509766, + "y": -0.018440067768096924, + "z": 6.738438606262207 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Bowl|surface|7|10", + "Laptop|surface|7|9", + "CellPhone|surface|7|7" + ], + "distance": 6.020102024078369, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 4.838703632354736, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 5.848877906799316 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 5.848877906799316 + ] + ], + "center": { + "x": 4.344852447509766, + "y": 0.3391090929508209, + "z": 6.738438606262207 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001024246216, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001024246216, + 0.6782165169715881, + 5.848877906799316 + ] + ] + } + } + }, + { + "objectId": "TVStand|7|2___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.03748083114624, + "y": 0.08263473212718964, + "z": 5.073814868927002 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Plate|surface|7|8" + ], + "distance": 5.137019634246826, + "objectType": "DiningTable", + "objectId": "TVStand|7|2___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.2026848793029785, + 0.18163445591926575, + 5.674866199493408 + ], + [ + 4.2026848793029785, + 0.18163445591926575, + 4.472763538360596 + ], + [ + 4.2026848793029785, + 0.08242693543434143, + 5.674866199493408 + ], + [ + 4.2026848793029785, + 0.08242693543434143, + 4.472763538360596 + ], + [ + 3.872276782989502, + 0.18163445591926575, + 5.674866199493408 + ], + [ + 3.872276782989502, + 0.18163445591926575, + 4.472763538360596 + ], + [ + 3.872276782989502, + 0.08242693543434143, + 5.674866199493408 + ], + [ + 3.872276782989502, + 0.08242693543434143, + 4.472763538360596 + ] + ], + "center": { + "x": 4.03748083114624, + "y": 0.1320306956768036, + "z": 5.073814868927002 + }, + "size": { + "x": 0.33040809631347656, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|2|0|1", + "object_info": { + "name": "Pillow|2|0|1", + "position": { + "x": 0.5998271107673645, + "y": 1.5897369384765625, + "z": 0.400125116109848 + }, + "rotation": { + "x": 359.960205078125, + "y": -0.0005040498799644411, + "z": 0.04027475416660309 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 7.900730133056641, + "objectType": "Pillow", + "objectId": "Pillow|2|0|1", + "assetId": "pillow_28", + "parentReceptacles": [ + "Bed|2|0|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7935194373130798, + 1.6829253435134888, + 0.5953816175460815 + ], + [ + 0.7935194373130798, + 1.6829253435134888, + 0.20486855506896973 + ], + [ + 0.7935194373130798, + 1.4965485334396362, + 0.5953816175460815 + ], + [ + 0.7935194373130798, + 1.4965485334396362, + 0.20486855506896973 + ], + [ + 0.40613478422164917, + 1.6829253435134888, + 0.5953816175460815 + ], + [ + 0.40613478422164917, + 1.6829253435134888, + 0.20486855506896973 + ], + [ + 0.40613478422164917, + 1.4965485334396362, + 0.5953816175460815 + ], + [ + 0.40613478422164917, + 1.4965485334396362, + 0.20486855506896973 + ] + ], + "center": { + "x": 0.5998271107673645, + "y": 1.5897369384765625, + "z": 0.40012508630752563 + }, + "size": { + "x": 0.38738465309143066, + "y": 0.18637681007385254, + "z": 0.3905130624771118 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7935187220573425, + 1.4970120191574097, + 0.5953826904296875 + ], + [ + 0.4062628149986267, + 1.4967398643493652, + 0.5953794717788696 + ], + [ + 0.4062662124633789, + 1.4964687824249268, + 0.204996719956398 + ], + [ + 0.7935221791267395, + 1.4967409372329712, + 0.20499993860721588 + ], + [ + 0.7933880090713501, + 1.6830050945281982, + 0.5952535271644592 + ], + [ + 0.4061320424079895, + 1.6827329397201538, + 0.5952503085136414 + ], + [ + 0.4061354994773865, + 1.6824618577957153, + 0.20486755669116974 + ], + [ + 0.7933914065361023, + 1.6827340126037598, + 0.2048707753419876 + ] + ] + } + } + }, + { + "objectId": "Painting|7|4", + "object_info": { + "name": "Painting|7|4", + "position": { + "x": 3.832129716873169, + "y": 1.2936924695968628, + "z": 3.557769298553467 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.624072551727295, + "objectType": "Painting", + "objectId": "Painting|7|4", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.850149393081665, + 1.5980963706970215, + 3.786027431488037 + ], + [ + 3.850149393081665, + 1.5980963706970215, + 3.3282246589660645 + ], + [ + 3.850149393081665, + 0.9901943206787109, + 3.786027431488037 + ], + [ + 3.850149393081665, + 0.9901943206787109, + 3.3282246589660645 + ], + [ + 3.8310000896453857, + 1.5980963706970215, + 3.786027431488037 + ], + [ + 3.8310000896453857, + 1.5980963706970215, + 3.3282246589660645 + ], + [ + 3.8310000896453857, + 0.9901943206787109, + 3.786027431488037 + ], + [ + 3.8310000896453857, + 0.9901943206787109, + 3.3282246589660645 + ] + ], + "center": { + "x": 3.8405747413635254, + "y": 1.2941453456878662, + "z": 3.557126045227051 + }, + "size": { + "x": 0.019149303436279297, + "y": 0.6079020500183105, + "z": 0.45780277252197266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|6", + "object_info": { + "name": "Painting|7|6", + "position": { + "x": 3.830995798110962, + "y": 1.6227028369903564, + "z": 4.809229373931885 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.1573357582092285, + "objectType": "Painting", + "objectId": "Painting|7|6", + "assetId": "Wall_Decor_Photo_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.862740993499756, + 1.9106649160385132, + 5.213332176208496 + ], + [ + 3.862740993499756, + 1.9106649160385132, + 4.405126571655273 + ], + [ + 3.862740993499756, + 1.3347407579421997, + 5.213332176208496 + ], + [ + 3.862740993499756, + 1.3347407579421997, + 4.405126571655273 + ], + [ + 3.8309998512268066, + 1.9106649160385132, + 5.213332176208496 + ], + [ + 3.8309998512268066, + 1.9106649160385132, + 4.405126571655273 + ], + [ + 3.8309998512268066, + 1.3347407579421997, + 5.213332176208496 + ], + [ + 3.8309998512268066, + 1.3347407579421997, + 4.405126571655273 + ] + ], + "center": { + "x": 3.8468704223632812, + "y": 1.6227028369903564, + "z": 4.809229373931885 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.5759241580963135, + "z": 0.8082056045532227 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|7|2", + "object_info": { + "name": "TVStand|7|2", + "position": { + "x": 4.037482261657715, + "y": 0.0009346157312393188, + "z": 5.073751926422119 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Statue|surface|7|12", + "HousePlant|surface|7|13" + ], + "distance": 5.150630950927734, + "objectType": "TVStand", + "objectId": "TVStand|7|2", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|7|8" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.220876693725586, + 0.45024925470352173, + 5.6926679611206055 + ], + [ + 4.220876693725586, + 0.45024925470352173, + 4.454863548278809 + ], + [ + 4.220876693725586, + 2.384185791015625e-07, + 5.6926679611206055 + ], + [ + 4.220876693725586, + 2.384185791015625e-07, + 4.454863548278809 + ], + [ + 3.8509998321533203, + 0.45024925470352173, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.45024925470352173, + 4.454863548278809 + ], + [ + 3.8509998321533203, + 2.384185791015625e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.384185791015625e-07, + 4.454863548278809 + ] + ], + "center": { + "x": 4.035938262939453, + "y": 0.22512474656105042, + "z": 5.073765754699707 + }, + "size": { + "x": 0.3698768615722656, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.220876216888428, + 2.682209014892578e-07, + 4.454863548278809 + ], + [ + 4.220876216888428, + 2.682209014892578e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.682209014892578e-07, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 2.682209014892578e-07, + 4.454863548278809 + ], + [ + 4.220876216888428, + 0.4502490758895874, + 4.454863548278809 + ], + [ + 4.220876216888428, + 0.4502490758895874, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.4502490758895874, + 5.6926679611206055 + ], + [ + 3.8509998321533203, + 0.4502490758895874, + 4.454863548278809 + ] + ] + } + } + }, + { + "objectId": "HousePlant|surface|7|13", + "object_info": { + "name": "HousePlant|surface|7|13", + "position": { + "x": 4.08261775970459, + "y": 0.45259523391723633, + "z": 5.38269567489624 + }, + "rotation": { + "x": -0.00021490079234354198, + "y": 0.00011971992353210226, + "z": -9.650617357692681e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 5.232773780822754, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|7|13", + "assetId": "Houseplant_20", + "parentReceptacles": [ + "Floor", + "TVStand|7|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.172417640686035, + 1.0949952602386475, + 5.484292984008789 + ], + [ + 4.172417640686035, + 1.0949952602386475, + 5.293793678283691 + ], + [ + 4.172417640686035, + 0.45024895668029785, + 5.484292984008789 + ], + [ + 4.172417640686035, + 0.45024895668029785, + 5.293793678283691 + ], + [ + 3.9721174240112305, + 1.0949952602386475, + 5.484292984008789 + ], + [ + 3.9721174240112305, + 1.0949952602386475, + 5.293793678283691 + ], + [ + 3.9721174240112305, + 0.45024895668029785, + 5.484292984008789 + ], + [ + 3.9721174240112305, + 0.45024895668029785, + 5.293793678283691 + ] + ], + "center": { + "x": 4.072267532348633, + "y": 0.7726221084594727, + "z": 5.38904333114624 + }, + "size": { + "x": 0.2003002166748047, + "y": 0.6447463035583496, + "z": 0.19049930572509766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.172418117523193, + 0.45024922490119934, + 5.48429536819458 + ], + [ + 3.9721179008483887, + 0.45024925470352173, + 5.484295845031738 + ], + [ + 3.9721176624298096, + 0.4502485394477844, + 5.293796062469482 + ], + [ + 4.172417640686035, + 0.45024850964546204, + 5.293795585632324 + ], + [ + 4.172418117523193, + 1.0949956178665161, + 5.484292984008789 + ], + [ + 3.9721181392669678, + 1.0949956178665161, + 5.484293460845947 + ], + [ + 3.9721176624298096, + 1.0949949026107788, + 5.293793678283691 + ], + [ + 4.172417640686035, + 1.0949949026107788, + 5.293793201446533 + ] + ] + } + } + }, + { + "objectId": "Mug|surface|6|0", + "object_info": { + "name": "Mug|surface|6|0", + "position": { + "x": 6.918817520141602, + "y": 0.7417033910751343, + "z": 2.329334259033203 + }, + "rotation": { + "x": -5.62423410883639e-05, + "y": 180.0, + "z": 5.557888653129339e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.3430249691009521, + "objectType": "Mug", + "objectId": "Mug|surface|6|0", + "assetId": "Mug_1", + "parentReceptacles": [ + "DiningTable|6|3|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.993148326873779, + 0.8453383445739746, + 2.3807408809661865 + ], + [ + 6.993148326873779, + 0.8453383445739746, + 2.2782275676727295 + ], + [ + 6.993148326873779, + 0.7417032718658447, + 2.3807408809661865 + ], + [ + 6.993148326873779, + 0.7417032718658447, + 2.2782275676727295 + ], + [ + 6.867560863494873, + 0.8453383445739746, + 2.3807408809661865 + ], + [ + 6.867560863494873, + 0.8453383445739746, + 2.2782275676727295 + ], + [ + 6.867560863494873, + 0.7417032718658447, + 2.3807408809661865 + ], + [ + 6.867560863494873, + 0.7417032718658447, + 2.2782275676727295 + ] + ], + "center": { + "x": 6.930354595184326, + "y": 0.7935208082199097, + "z": 2.329484224319458 + }, + "size": { + "x": 0.12558746337890625, + "y": 0.10363507270812988, + "z": 0.10251331329345703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.867560863494873, + 0.741703450679779, + 2.2782275676727295 + ], + [ + 6.993148326873779, + 0.7417033314704895, + 2.2782275676727295 + ], + [ + 6.993148326873779, + 0.7417032122612, + 2.3807408809661865 + ], + [ + 6.867560863494873, + 0.7417033314704895, + 2.3807408809661865 + ], + [ + 6.867560863494873, + 0.8453384041786194, + 2.2782275676727295 + ], + [ + 6.993148326873779, + 0.8453382849693298, + 2.2782278060913086 + ], + [ + 6.993148326873779, + 0.8453381657600403, + 2.3807408809661865 + ], + [ + 6.867560863494873, + 0.8453382849693298, + 2.3807408809661865 + ] + ] + } + } + }, + { + "objectId": "Painting|7|5", + "object_info": { + "name": "Painting|7|5", + "position": { + "x": 3.830995798110962, + "y": 1.586195468902588, + "z": 7.020560264587402 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 6.538756847381592, + "objectType": "Painting", + "objectId": "Painting|7|5", + "assetId": "Wall_Decor_Photo_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.862740993499756, + 1.869105577468872, + 7.455410003662109 + ], + [ + 3.862740993499756, + 1.869105577468872, + 6.585710525512695 + ], + [ + 3.862740993499756, + 1.3032853603363037, + 7.455410003662109 + ], + [ + 3.862740993499756, + 1.3032853603363037, + 6.585710525512695 + ], + [ + 3.8309998512268066, + 1.869105577468872, + 7.455410003662109 + ], + [ + 3.8309998512268066, + 1.869105577468872, + 6.585710525512695 + ], + [ + 3.8309998512268066, + 1.3032853603363037, + 7.455410003662109 + ], + [ + 3.8309998512268066, + 1.3032853603363037, + 6.585710525512695 + ] + ], + "center": { + "x": 3.8468704223632812, + "y": 1.586195468902588, + "z": 7.020560264587402 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.5658202171325684, + "z": 0.8696994781494141 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 6.271206855773926, + "y": 0.0023636221885681152, + "z": 7.296786308288574 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|11" + ], + "distance": 5.49483585357666, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.110105037689209, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 7.110105037689209, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 6.948600769042969 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 6.948600769042969 + ] + ], + "center": { + "x": 6.271206855773926, + "y": 0.44755420088768005, + "z": 7.288280487060547 + }, + "size": { + "x": 1.6777963638305664, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.432308673858643, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 7.627959728240967 + ] + ] + } + } + }, + { + "objectId": "Statue|surface|7|12", + "object_info": { + "name": "Statue|surface|7|12", + "position": { + "x": 4.036550521850586, + "y": 0.4499058723449707, + "z": 4.763192176818848 + }, + "rotation": { + "x": -0.0016643067356199026, + "y": -0.0012327327858656645, + "z": 0.0023275616113096476 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.926741123199463, + "objectType": "Statue", + "objectId": "Statue|surface|7|12", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "Floor", + "TVStand|7|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.118582248687744, + 0.8612062335014343, + 4.845223426818848 + ], + [ + 4.118582248687744, + 0.8612062335014343, + 4.681159973144531 + ], + [ + 4.118582248687744, + 0.45024532079696655, + 4.845223426818848 + ], + [ + 4.118582248687744, + 0.45024532079696655, + 4.681159973144531 + ], + [ + 3.954516887664795, + 0.8612062335014343, + 4.845223426818848 + ], + [ + 3.954516887664795, + 0.8612062335014343, + 4.681159973144531 + ], + [ + 3.954516887664795, + 0.45024532079696655, + 4.845223426818848 + ], + [ + 3.954516887664795, + 0.45024532079696655, + 4.681159973144531 + ] + ], + "center": { + "x": 4.0365495681762695, + "y": 0.6557257771492004, + "z": 4.7631916999816895 + }, + "size": { + "x": 0.16406536102294922, + "y": 0.4109609127044678, + "z": 0.1640634536743164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.1185808181762695, + 0.45025435090065, + 4.845223903656006 + ], + [ + 3.9545187950134277, + 0.4502476751804352, + 4.845220565795898 + ], + [ + 3.9545223712921143, + 0.45024290680885315, + 4.681159496307373 + ], + [ + 4.118584156036377, + 0.450249582529068, + 4.6811628341674805 + ], + [ + 4.118564128875732, + 0.8612145185470581, + 4.845211982727051 + ], + [ + 3.9545021057128906, + 0.8612078428268433, + 4.845208644866943 + ], + [ + 3.954505681991577, + 0.8612030744552612, + 4.681147575378418 + ], + [ + 4.11856746673584, + 0.8612097501754761, + 4.681150913238525 + ] + ] + } + } + }, + { + "objectId": "TVStand|7|2___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.0374836921691895, + "y": 0.2684445381164551, + "z": 5.073750019073486 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.110673427581787, + "objectType": "DiningTable", + "objectId": "TVStand|7|2___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.202687740325928, + 0.3674442172050476, + 5.674801349639893 + ], + [ + 4.202687740325928, + 0.3674442172050476, + 4.47269868850708 + ], + [ + 4.202687740325928, + 0.26823681592941284, + 5.674801349639893 + ], + [ + 4.202687740325928, + 0.26823681592941284, + 4.47269868850708 + ], + [ + 3.872279644012451, + 0.3674442172050476, + 5.674801349639893 + ], + [ + 3.872279644012451, + 0.3674442172050476, + 4.47269868850708 + ], + [ + 3.872279644012451, + 0.26823681592941284, + 5.674801349639893 + ], + [ + 3.872279644012451, + 0.26823681592941284, + 4.47269868850708 + ] + ], + "center": { + "x": 4.0374836921691895, + "y": 0.3178405165672302, + "z": 5.073750019073486 + }, + "size": { + "x": 0.33040809631347656, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 8.600000381469727, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.600000381469727, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|7|0", + "Sofa|7|1", + "Chair|6|3|1", + "DiningTable|6|3|0" + ], + "different_object": [ + "CellPhone|surface|7|7", + "TVStand|7|2___0", + "Bowl|surface|7|10", + "Statue|surface|7|12", + "TVStand|7|2", + "Painting|2|5", + "door|2|7", + "HousePlant|surface|7|13", + "Painting|7|3", + "Plate|surface|7|8", + "window|6|1", + "Bed|2|0|0", + "Vase|surface|6|1", + "Painting|7|4", + "Mug|surface|6|0", + "Painting|7|5", + "Laptop|surface|7|9", + "TVStand|7|2___1", + "Painting|7|6", + "window|7|0", + "Pillow|2|0|1" + ] +} \ No newline at end of file diff --git a/train/train1458/4/0_depth_npy.npy b/train/train1458/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5a71a2044fbdbb4cdc4a6990ce266e3431fd7914 --- /dev/null +++ b/train/train1458/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b099a24a846b6e5452add9b5901026ad5b9a5eb58f5ec71ce88ca1175ac1a423 +size 3145856 diff --git a/train/train1458/4/0_semantic_sensor_npy.npy b/train/train1458/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6e7303a00d685dc82c1fff0bd85e76e5403eb87f --- /dev/null +++ b/train/train1458/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c9e725c5066fbea9c8203af05553505d4045832880f3b47a24c379480ffbfd7 +size 2359424 diff --git a/train/train1458/4/1.json b/train/train1458/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..bf56d1cf3b89e00f5c38d596e94ae01c0b04224a --- /dev/null +++ b/train/train1458/4/1.json @@ -0,0 +1,1096 @@ +{ + "object": [ + { + "objectId": "Chair|6|3|1", + "object_info": { + "name": "Chair|6|3|1", + "position": { + "x": 6.781373023986816, + "y": 0.0005902945995330811, + "z": 2.9786036014556885 + }, + "rotation": { + "x": -0.0, + "y": 171.00523376464844, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|6|3|0" + ], + "distance": 1.8704185485839844, + "objectType": "Chair", + "objectId": "Chair|6|3|1", + "assetId": "Chair_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.005563735961914, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 7.005563735961914, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 7.005563735961914, + 4.678964614868164e-06, + 2.747330665588379 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 3.259097099304199 + ], + [ + 6.544158935546875, + 0.8749433755874634, + 2.747330665588379 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 3.259097099304199 + ], + [ + 6.544158935546875, + 4.678964614868164e-06, + 2.747330665588379 + ] + ], + "center": { + "x": 6.7748613357543945, + "y": 0.4374740421772003, + "z": 3.003213882446289 + }, + "size": { + "x": 0.46140480041503906, + "y": 0.8749387264251709, + "z": 0.5117664337158203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.601893424987793, + 4.708766937255859e-06, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 4.708766937255859e-06, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 4.708766937255859e-06, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 4.708766937255859e-06, + 3.2015936374664307 + ], + [ + 6.601893424987793, + 0.8749431371688843, + 2.7393736839294434 + ], + [ + 7.013717174530029, + 0.8749431371688843, + 2.8045616149902344 + ], + [ + 6.940552234649658, + 0.8749431371688843, + 3.2667815685272217 + ], + [ + 6.528728485107422, + 0.8749431371688843, + 3.2015936374664307 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|3|0", + "object_info": { + "name": "DiningTable|6|3|0", + "position": { + "x": 6.771223545074463, + "y": -0.00013914704322814941, + "z": 2.5194694995880127 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|0", + "Vase|surface|6|1" + ], + "distance": 1.7525538206100464, + "objectType": "DiningTable", + "objectId": "DiningTable|6|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Chair|6|3|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.372919082641602, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 7.372919082641602, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 7.372919082641602, + 7.569789886474609e-06, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.903076410293579 + ], + [ + 6.169527053833008, + 0.7417030334472656, + 2.1358625888824463 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.903076410293579 + ], + [ + 6.169527053833008, + 7.569789886474609e-06, + 2.1358625888824463 + ] + ], + "center": { + "x": 6.771223068237305, + "y": 0.37085530161857605, + "z": 2.5194694995880127 + }, + "size": { + "x": 1.2033920288085938, + "y": 0.7416954636573792, + "z": 0.7672138214111328 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 8.195638656616211e-06, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.1358625888824463 + ], + [ + 7.372919082641602, + 0.7417033910751343, + 2.903076410293579 + ], + [ + 6.169528007507324, + 0.7417033910751343, + 2.903076410293579 + ] + ] + } + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 11.118658065795898, + "y": 0.007478475570678711, + "z": 3.3662993907928467 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|4" + ], + "distance": 3.2052619457244873, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.453998565673828, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 11.453998565673828, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 11.453998565673828, + 4.76837158203125e-07, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 3.800999164581299 + ], + [ + 10.736068725585938, + 1.8184432983398438, + 2.9309935569763184 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 3.800999164581299 + ], + [ + 10.736068725585938, + 4.76837158203125e-07, + 2.9309935569763184 + ] + ], + "center": { + "x": 11.095033645629883, + "y": 0.909221887588501, + "z": 3.3659963607788086 + }, + "size": { + "x": 0.7179298400878906, + "y": 1.8184428215026855, + "z": 0.8700056076049805 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 4.344852447509766, + "y": -0.018440067768096924, + "z": 6.738438606262207 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Bowl|surface|7|10", + "Laptop|surface|7|9", + "CellPhone|surface|7|7" + ], + "distance": 6.020102024078369, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 4.838703632354736, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 4.838703632354736, + 1.5497207641601562e-06, + 5.848877906799316 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782166361808777, + 5.848877906799316 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.5497207641601562e-06, + 5.848877906799316 + ] + ], + "center": { + "x": 4.344852447509766, + "y": 0.3391090929508209, + "z": 6.738438606262207 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.838703632354736, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001262664795, + 1.6093254089355469e-06, + 7.627999305725098 + ], + [ + 3.851001024246216, + 1.6093254089355469e-06, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 5.848877906799316 + ], + [ + 4.838703632354736, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001262664795, + 0.6782165169715881, + 7.627999305725098 + ], + [ + 3.851001024246216, + 0.6782165169715881, + 5.848877906799316 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|5", + "object_info": { + "name": "GarbageBag|6|5", + "position": { + "x": 9.93146800994873, + "y": -0.0016815364360809326, + "z": 2.1855967044830322 + }, + "rotation": { + "x": 0.0427328422665596, + "y": 270.0003967285156, + "z": 0.37392106652259827 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.909532904624939, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|5", + "assetId": "GarbageBag_21_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.189888000488281, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 10.189888000488281, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 10.189888000488281, + -8.344650268554688e-07, + 1.9386863708496094 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 2.4494447708129883 + ], + [ + 9.6746826171875, + 0.5573247075080872, + 1.9386863708496094 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 2.4494447708129883 + ], + [ + 9.6746826171875, + -8.344650268554688e-07, + 1.9386863708496094 + ] + ], + "center": { + "x": 9.93228530883789, + "y": 0.27866193652153015, + "z": 2.194065570831299 + }, + "size": { + "x": 0.5152053833007812, + "y": 0.557325541973114, + "z": 0.5107583999633789 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.674802780151367, + 0.0009304089471697807, + 2.450488805770874 + ], + [ + 9.67480182647705, + -0.002402830170467496, + 1.9397449493408203 + ], + [ + 10.190009117126465, + -0.002018573461100459, + 1.9397414922714233 + ], + [ + 10.190010070800781, + 0.0013146656565368176, + 2.4504852294921875 + ], + [ + 9.674386024475098, + 0.558856725692749, + 2.446847677230835 + ], + [ + 9.674385070800781, + 0.5555235147476196, + 1.9361038208007812 + ], + [ + 10.189592361450195, + 0.5559078454971313, + 1.9361002445220947 + ], + [ + 10.189593315124512, + 0.5592410564422607, + 2.4468441009521484 + ] + ] + } + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 9.211421012878418, + "y": 0.003310978412628174, + "z": 3.6443896293640137 + }, + "rotation": { + "x": 6.861903239041567e-05, + "y": 341.9659729003906, + "z": -0.0002130199718521908 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 1.9168980121612549, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.32536506652832, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.32536506652832, + 8.046627044677734e-07, + 3.503091812133789 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 0.8504108190536499, + 3.503091812133789 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.7571353912353516 + ], + [ + 9.097602844238281, + 8.046627044677734e-07, + 3.503091812133789 + ] + ], + "center": { + "x": 9.2114839553833, + "y": 0.425205796957016, + "z": 3.6301136016845703 + }, + "size": { + "x": 0.22776222229003906, + "y": 0.850409984588623, + "z": 0.2540435791015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.283507347106934, + -3.1851232051849365e-07, + 3.8010001182556152 + ], + [ + 9.060393333435059, + 5.539041012525558e-07, + 3.7283594608306885 + ], + [ + 9.136246681213379, + 8.472707122564316e-07, + 3.4953770637512207 + ], + [ + 9.359360694885254, + -2.514570951461792e-08, + 3.5680177211761475 + ], + [ + 9.283510208129883, + 0.8504104018211365, + 3.801002025604248 + ], + [ + 9.060396194458008, + 0.8504112362861633, + 3.7283613681793213 + ], + [ + 9.136249542236328, + 0.8504115343093872, + 3.4953789710998535 + ], + [ + 9.359363555908203, + 0.8504106998443604, + 3.5680198669433594 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 6.271206855773926, + "y": 0.0023636221885681152, + "z": 7.296786308288574 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|11" + ], + "distance": 5.49483585357666, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.110105037689209, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 7.110105037689209, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 7.110105037689209, + -2.8908252716064453e-06, + 6.948600769042969 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 7.627960205078125 + ], + [ + 5.432308673858643, + 0.8951113224029541, + 6.948600769042969 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 7.627960205078125 + ], + [ + 5.432308673858643, + -2.8908252716064453e-06, + 6.948600769042969 + ] + ], + "center": { + "x": 6.271206855773926, + "y": 0.44755420088768005, + "z": 7.288280487060547 + }, + "size": { + "x": 1.6777963638305664, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.432308673858643, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 6.948600769042969 + ], + [ + 7.110105037689209, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + -2.8014183044433594e-06, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 6.948600769042969 + ], + [ + 7.110105037689209, + 0.8951110243797302, + 7.627959728240967 + ], + [ + 5.432308673858643, + 0.8951110243797302, + 7.627959728240967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.5, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.5, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|7|0", + "Sofa|7|1", + "Chair|6|3|1", + "DiningTable|6|3|0" + ], + "different_object": [ + "Fridge|6|1", + "HousePlant|6|4|0", + "GarbageBag|6|5" + ] +} \ No newline at end of file diff --git a/train/train1458/4/1_depth_npy.npy b/train/train1458/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..653094f3984ddc50232b9a0dbdb0a893b8b6b765 --- /dev/null +++ b/train/train1458/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c904a38829d06a1b5af958b7f1953e0460bc6d5a8b4cb3ed039dee1fdd6619fe +size 3145856 diff --git a/train/train1458/4/1_semantic_sensor_npy.npy b/train/train1458/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b9c4e6ee4c902154c8fe67982268ea8103f2b869 --- /dev/null +++ b/train/train1458/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1748303be931c729f34d290cbd01c4a0b4705d830e4e027ade8dd8f7222b247 +size 2359424 diff --git a/train/train1458/4/depth_0.png b/train/train1458/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3ef1b67aed2d4e50cf8d54d26dca353f545a212d Binary files /dev/null and b/train/train1458/4/depth_0.png differ diff --git a/train/train1458/4/depth_1.png b/train/train1458/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0acac71d657d89be5e192d3a7e866f9448f0a074 Binary files /dev/null and b/train/train1458/4/depth_1.png differ diff --git a/train/train1458/4/mask_questions.jsonl b/train/train1458/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8efa3e6bfb37a20ab97127a2e7cc95270d4e7b9f --- /dev/null +++ b/train/train1458/4/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 9361, "folder_dir": "train1458/4", "pair_name": "0-1:DiningTable|6|3|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. DiningTable\nC. Vase\nD. DiningTable", "answer": "B", "object_name": "DiningTable", "image_1": "train1458/4/rgb_0.png", "image_2": "train1458/4/rgb_1.png", "mask_image": "train1458/4/rgb_1_mask_DiningTable|6|3|0.png", "options": ["Window", "DiningTable", "Vase", "DiningTable"]} diff --git a/train/train1458/4/questions_distance.jsonl b/train/train1458/4/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..641a616ffe0fd00c4fbb7c91b7da6ec64ab72adf --- /dev/null +++ b/train/train1458/4/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 3821, "folder_dir": "train1458/4", "query": "Which of the following objects is closest to Chair in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Doorway\nC. Mug\nD. Other\n", "answer": "A", "src_object": "Chair", "target_object": "Vase", "question": "Which of the following objects is closest to Chair in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Vase", "semantic_id": "Vase|surface|6|1", "distance": 0.6483590456049324, "com": {"x": 7.06867790222168, "y": 0.8637433052062988, "z": 2.6129117012023926}}, {"text": "Doorway", "semantic_id": "door|2|7", "distance": 2.7510168471775627, "com": {"x": 4.2385969161987305, "y": 1.0364104509353638, "z": 2.121890068054199}}, {"text": "Mug", "semantic_id": "Mug|surface|6|0", "distance": 0.7777268836663115, "com": {"x": 6.930354595184326, "y": 0.7935208082199097, "z": 2.329484224319458}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1458/4/rgb_0.png", "image_2": "train1458/4/rgb_1.png"} diff --git a/train/train1458/4/rgb_0.png b/train/train1458/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6da2c7f6063d22847ba041c2901c94e49cb57488 --- /dev/null +++ b/train/train1458/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8034a354de0cd99da5ea2c139a3cd19048b09b8987c3b6516b8856cc00db3f98 +size 641782 diff --git a/train/train1458/4/rgb_1.png b/train/train1458/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..297d100185961f81a2714aa64bfe1956dc3aeb26 --- /dev/null +++ b/train/train1458/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9d4cb904b7743b8106bc028011abbdb4d3cc6a553651790adea7fb9c8fff41a +size 613854 diff --git a/train/train1458/4/rgb_1_mask_DiningTable|6|3|0.png b/train/train1458/4/rgb_1_mask_DiningTable|6|3|0.png new file mode 100644 index 0000000000000000000000000000000000000000..fc855c0244927fde74c897ad644dd9d4cc5ddc1e --- /dev/null +++ b/train/train1458/4/rgb_1_mask_DiningTable|6|3|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b450a1a1166924f2853b9269369aa855b11411a95742d9937a8255e23460261e +size 469212 diff --git a/train/train1458/4/semantic_0.png b/train/train1458/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9185ad41d3f714365bfaca57ce85cda35d6c97e8 Binary files /dev/null and b/train/train1458/4/semantic_0.png differ diff --git a/train/train1458/4/semantic_1.png b/train/train1458/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7d14030a8b54ffd6093d7efa1c2036ea1916b169 Binary files /dev/null and b/train/train1458/4/semantic_1.png differ diff --git a/train/train1458/color_to_object_id.json b/train/train1458/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..62895717c9092539ebcc3ca3388b9819940c2f47 --- /dev/null +++ b/train/train1458/color_to_object_id.json @@ -0,0 +1,1199 @@ +[ + { + "window|6|1": [ + 102, + 42, + 202 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "window|7|0": [ + 75, + 237, + 134 + ] + }, + { + "window|2|0": [ + 226, + 232, + 42 + ] + }, + { + "door|1|7": [ + 53, + 149, + 94 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|2|7": [ + 84, + 129, + 135 + ] + }, + { + "Painting|6|9": [ + 3, + 105, + 221 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|6|6": [ + 136, + 191, + 27 + ] + }, + { + "Painting|7|6": [ + 172, + 235, + 250 + ] + }, + { + "Painting|7|5": [ + 204, + 249, + 219 + ] + }, + { + "Painting|7|4": [ + 153, + 5, + 3 + ] + }, + { + "Painting|7|3": [ + 70, + 134, + 131 + ] + }, + { + "Painting|2|6": [ + 189, + 42, + 23 + ] + }, + { + "Painting|2|5": [ + 70, + 151, + 180 + ] + }, + { + "Television|2|4": [ + 61, + 207, + 187 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "BasketBall|2|3": [ + 188, + 238, + 92 + ] + }, + { + "BasketBall": [ + 97, + 58, + 36 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CD|surface|2|16": [ + 39, + 233, + 131 + ] + }, + { + "CD": [ + 65, + 112, + 172 + ] + }, + { + "Vase|surface|2|15": [ + 23, + 147, + 40 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "RemoteControl|surface|2|14": [ + 70, + 132, + 26 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Dresser|2|1___2": [ + 238, + 209, + 103 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|2|1___1": [ + 177, + 14, + 233 + ] + }, + { + "Dresser|2|1___0": [ + 244, + 240, + 140 + ] + }, + { + "Dresser|2|1": [ + 195, + 152, + 116 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "Pillow|2|0|1": [ + 148, + 57, + 211 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|2|0|0": [ + 67, + 140, + 149 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "HousePlant|surface|7|13": [ + 178, + 48, + 71 + ] + }, + { + "Statue|surface|7|12": [ + 216, + 128, + 146 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "Plate|surface|7|8": [ + 43, + 8, + 175 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "TVStand|7|2___1": [ + 245, + 9, + 21 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "TVStand|7|2___0": [ + 120, + 8, + 8 + ] + }, + { + "TVStand|7|2": [ + 174, + 251, + 173 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Book|surface|7|11": [ + 230, + 200, + 86 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Sofa|7|1": [ + 207, + 240, + 173 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "Bowl|surface|7|10": [ + 11, + 60, + 241 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "Laptop|surface|7|9": [ + 101, + 94, + 136 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "CellPhone|surface|7|7": [ + 34, + 24, + 220 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "DiningTable|7|0": [ + 119, + 37, + 61 + ] + }, + { + "GarbageBag|6|5": [ + 127, + 184, + 241 + ] + }, + { + "GarbageBag": [ + 250, + 186, + 207 + ] + }, + { + "HousePlant|6|4|0": [ + 196, + 137, + 142 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Vase|surface|6|1": [ + 34, + 78, + 207 + ] + }, + { + "Mug|surface|6|0": [ + 194, + 220, + 170 + ] + }, + { + "Mug": [ + 8, + 94, + 186 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "Stool|6|2": [ + 253, + 104, + 83 + ] + }, + { + "Stool": [ + 13, + 54, + 156 + ] + }, + { + "Apple|surface|6|4": [ + 140, + 80, + 16 + ] + }, + { + "Apple": [ + 159, + 98, + 144 + ] + }, + { + "Fridge|6|1": [ + 45, + 15, + 119 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "SaltShaker|surface|6|6": [ + 241, + 142, + 180 + ] + }, + { + "SaltShaker": [ + 36, + 222, + 26 + ] + }, + { + "PepperShaker|surface|6|5": [ + 172, + 185, + 3 + ] + }, + { + "PepperShaker": [ + 5, + 204, + 214 + ] + }, + { + "SoapBottle|surface|6|3": [ + 58, + 129, + 69 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "DishSponge|surface|6|2": [ + 105, + 194, + 110 + ] + }, + { + "DishSponge": [ + 166, + 58, + 136 + ] + }, + { + "CounterTop|6|0": [ + 175, + 244, + 241 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|7|0|2.763958|0": [ + 119, + 126, + 143 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|6|0|2.763958|0": [ + 222, + 122, + 154 + ] + }, + { + "Ceiling_room|2|0|2.763958|0": [ + 40, + 102, + 198 + ] + }, + { + "wall|exterior|11.48|0.00|11.48|3.83": [ + 72, + 193, + 92 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|5.74|0.00|11.48|0.00": [ + 243, + 199, + 183 + ] + }, + { + "wall|exterior|7.65|3.83|11.48|3.83": [ + 54, + 114, + 82 + ] + }, + { + "wall|exterior|3.83|0.00|5.74|0.00": [ + 179, + 167, + 65 + ] + }, + { + "wall|exterior|7.65|3.83|7.65|7.65": [ + 210, + 75, + 230 + ] + }, + { + "wall|exterior|3.83|7.65|7.65|7.65": [ + 0, + 102, + 95 + ] + }, + { + "wall|exterior|1.91|3.83|1.91|7.65": [ + 147, + 51, + 243 + ] + }, + { + "wall|exterior|0.00|3.83|1.91|3.83": [ + 135, + 244, + 172 + ] + }, + { + "wall|exterior|1.91|7.65|3.83|7.65": [ + 224, + 200, + 9 + ] + }, + { + "wall|exterior|0.00|0.00|3.83|0.00": [ + 210, + 226, + 23 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|3.83": [ + 27, + 140, + 102 + ] + }, + { + "wall|7|3.83|0.00|5.74|0.00": [ + 241, + 14, + 93 + ] + }, + { + "wall|7|7.65|3.83|7.65|7.65": [ + 157, + 139, + 57 + ] + }, + { + "wall|7|3.83|7.65|7.65|7.65": [ + 184, + 29, + 196 + ] + }, + { + "wall|7|3.83|0.00|3.83|7.65": [ + 228, + 167, + 156 + ] + }, + { + "wall|6|5.74|0.00|11.48|0.00": [ + 62, + 92, + 191 + ] + }, + { + "wall|6|11.48|0.00|11.48|3.83": [ + 113, + 110, + 63 + ] + }, + { + "wall|6|7.65|3.83|11.48|3.83": [ + 227, + 74, + 177 + ] + }, + { + "wall|2|0.00|0.00|3.83|0.00": [ + 139, + 129, + 35 + ] + }, + { + "wall|2|3.83|0.00|3.83|7.65": [ + 191, + 246, + 126 + ] + }, + { + "wall|2|1.91|7.65|3.83|7.65": [ + 19, + 120, + 153 + ] + }, + { + "wall|2|1.91|3.83|1.91|7.65": [ + 246, + 77, + 244 + ] + }, + { + "wall|2|0.00|3.83|1.91|3.83": [ + 26, + 251, + 148 + ] + }, + { + "wall|2|0.00|0.00|0.00|3.83": [ + 111, + 238, + 136 + ] + }, + { + "room|7": [ + 183, + 155, + 144 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train221/0/0.json b/train/train221/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train221/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train221/0/0_depth_npy.npy b/train/train221/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train221/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train221/0/0_semantic_sensor_npy.npy b/train/train221/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train221/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train221/0/1.json b/train/train221/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train221/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train221/0/1_depth_npy.npy b/train/train221/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train221/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train221/0/1_semantic_sensor_npy.npy b/train/train221/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train221/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train221/0/depth_0.png b/train/train221/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train221/0/depth_0.png differ diff --git a/train/train221/0/depth_1.png b/train/train221/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train221/0/depth_1.png differ diff --git a/train/train221/0/mask_questions.jsonl b/train/train221/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b565c85ae793d7784af2bf1e300362403d0bf5f --- /dev/null +++ b/train/train221/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 9356, "folder_dir": "train221/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Fridge\nC. Book\nD. Television", "answer": "B", "object_name": "Fridge", "image_1": "train221/0/rgb_0.png", "image_2": "train221/0/rgb_1.png", "mask_image": "train221/0/rgb_1_mask_Fridge|2|1.png", "options": ["Chair", "Fridge", "Book", "Television"]} +{"id": 9357, "folder_dir": "train221/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Television\nB. Fridge\nC. Dresser\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "train221/0/rgb_0.png", "image_2": "train221/0/rgb_1.png", "mask_image": "train221/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Television", "Fridge", "Dresser", "Chair"]} +{"id": 9358, "folder_dir": "train221/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CellPhone\nB. DiningTable\nC. Watch\nD. Fridge", "answer": "B", "object_name": "DiningTable", "image_1": "train221/0/rgb_0.png", "image_2": "train221/0/rgb_1.png", "mask_image": "train221/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["CellPhone", "DiningTable", "Watch", "Fridge"]} +{"id": 9359, "folder_dir": "train221/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Fridge\nC. Chair\nD. FloorLamp", "answer": "B", "object_name": "Fridge", "image_1": "train221/0/rgb_1.png", "image_2": "train221/0/rgb_0.png", "mask_image": "train221/0/rgb_0_mask_Fridge|2|1.png", "options": ["Painting", "Fridge", "Chair", "FloorLamp"]} +{"id": 9360, "folder_dir": "train221/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Painting\nC. Fridge\nD. FloorLamp", "answer": "A", "object_name": "Chair", "image_1": "train221/0/rgb_1.png", "image_2": "train221/0/rgb_0.png", "mask_image": "train221/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Chair", "Painting", "Fridge", "FloorLamp"]} diff --git a/train/train221/0/questions_distance.jsonl b/train/train221/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4cab5dfebdd9a6c4c32910175dace3de52b8637 --- /dev/null +++ b/train/train221/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 3818, "folder_dir": "train221/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Pen\nC. Plate\nD. Other\n", "answer": "C", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train221/0/rgb_0.png", "image_2": "train221/0/rgb_1.png"} +{"id": 3819, "folder_dir": "train221/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. Vase\nC. Plate\nD. Other\n", "answer": "A", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train221/0/rgb_0.png", "image_2": "train221/0/rgb_1.png"} diff --git a/train/train221/0/rgb_0.png b/train/train221/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c1e33e17a5091e3db6b0051d08e99bf97e31287b --- /dev/null +++ b/train/train221/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73693276b823b659475fba1ea790925411087775fe95553a2773d76bd275d09d +size 429998 diff --git a/train/train221/0/rgb_0_mask_Chair|4|1|1.png b/train/train221/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9c52bed757d515fa3d79d6897a1fbb3eac31b036 --- /dev/null +++ b/train/train221/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d13463867c67447373908e1b1fc2576ebd6d611cbbb8f94fec276a258d0aede8 +size 361373 diff --git a/train/train221/0/rgb_0_mask_Fridge|2|1.png b/train/train221/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..118393b09b2fd35ed8d0acca47e92869ece9b25f --- /dev/null +++ b/train/train221/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22572900b3c579a19685e7b7223c743fc2b5376b6d7826441195a9edd537e1c0 +size 369428 diff --git a/train/train221/0/rgb_1.png b/train/train221/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8634b6d73c9c34a127a48b5d041df57257f5c84a --- /dev/null +++ b/train/train221/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bb872eb1050e282e811f07589c90ae3b01ef4832a4b12bfd5ae8789e5a52b13 +size 449106 diff --git a/train/train221/0/rgb_1_mask_Chair|4|1|1.png b/train/train221/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..78be8fd88abbeb34f1f1ff5e8b368d7419f3b705 --- /dev/null +++ b/train/train221/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02ec1180c817ee1581e0463adbf2cbe89c7e55c4a170221aa4f658b6a05ff1c3 +size 361982 diff --git a/train/train221/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train221/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb1de62139aea942d042d70c06ce00b31cf1c666 --- /dev/null +++ b/train/train221/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c74a5281eed64764abc6972dc8f36faea55752da11e5c460ef2171a326e871a5 +size 382347 diff --git a/train/train221/0/rgb_1_mask_Fridge|2|1.png b/train/train221/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..48826be385df64dc54d0c0e41e7dae6d231c85da --- /dev/null +++ b/train/train221/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb38c5989e23693046b0bc7edfc327c98682dd31b63a78526d2171cb7ae73e3c +size 397868 diff --git a/train/train221/0/semantic_0.png b/train/train221/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train221/0/semantic_0.png differ diff --git a/train/train221/0/semantic_1.png b/train/train221/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train221/0/semantic_1.png differ diff --git a/train/train221/3/0.json b/train/train221/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train221/3/0.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train221/3/0_depth_npy.npy b/train/train221/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train221/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train221/3/0_semantic_sensor_npy.npy b/train/train221/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train221/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train221/3/1.json b/train/train221/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train221/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train221/3/1_depth_npy.npy b/train/train221/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train221/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train221/3/1_semantic_sensor_npy.npy b/train/train221/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train221/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train221/3/depth_0.png b/train/train221/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train221/3/depth_0.png differ diff --git a/train/train221/3/depth_1.png b/train/train221/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train221/3/depth_1.png differ diff --git a/train/train221/3/mask_questions.jsonl b/train/train221/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train221/3/questions_direction.jsonl b/train/train221/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73bbbd03749a04e922bbf97c0a2ebb4388998d4a --- /dev/null +++ b/train/train221/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 15176, "folder_dir": "train221/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train221/3/rgb_0.png", "image_2": "train221/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15177, "folder_dir": "train221/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train221/3/rgb_0.png", "image_2": "train221/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15178, "folder_dir": "train221/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train221/3/rgb_0.png", "image_2": "train221/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15179, "folder_dir": "train221/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train221/3/rgb_1.png", "image_2": "train221/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15180, "folder_dir": "train221/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train221/3/rgb_1.png", "image_2": "train221/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15181, "folder_dir": "train221/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train221/3/rgb_1.png", "image_2": "train221/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train221/3/rgb_0.png b/train/train221/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..77e03bb217115bce1b62cc6099fa671a854c825d --- /dev/null +++ b/train/train221/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f96d4a4a4b47fea1ad31ba4b43f2aa7f1568be4be64b940bea230b323c2772eb +size 193723 diff --git a/train/train221/3/rgb_1.png b/train/train221/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cdc80e43beafb5fc2178f5b12345388a909cef3b --- /dev/null +++ b/train/train221/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff8dec8b941bd2fe94c576ccd752f4b0e026ff16ff5368cb2b7b802aaace14a1 +size 244074 diff --git a/train/train221/3/semantic_0.png b/train/train221/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train221/3/semantic_0.png differ diff --git a/train/train221/3/semantic_1.png b/train/train221/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train221/3/semantic_1.png differ diff --git a/train/train221/4/0.json b/train/train221/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train221/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train221/4/0_depth_npy.npy b/train/train221/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train221/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train221/4/0_semantic_sensor_npy.npy b/train/train221/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train221/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train221/4/1.json b/train/train221/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train221/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train221/4/1_depth_npy.npy b/train/train221/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train221/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train221/4/1_semantic_sensor_npy.npy b/train/train221/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train221/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train221/4/depth_0.png b/train/train221/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train221/4/depth_0.png differ diff --git a/train/train221/4/depth_1.png b/train/train221/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train221/4/depth_1.png differ diff --git a/train/train221/4/mask_questions.jsonl b/train/train221/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train221/4/rgb_0.png b/train/train221/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b3dae7e39de571af9219e9d9f6ea9ff2ce689e0a --- /dev/null +++ b/train/train221/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:399c976538dad80206860c6f329e59159f8b777002c76d4878333f3abd639729 +size 242112 diff --git a/train/train221/4/rgb_1.png b/train/train221/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..615f578498e2cc7351a74e831f32062003fd577e --- /dev/null +++ b/train/train221/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:640827b942508aa2cef4b502771a81419db6ccfa3b80c570bf544bf1b50cd751 +size 198482 diff --git a/train/train221/4/semantic_0.png b/train/train221/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train221/4/semantic_0.png differ diff --git a/train/train221/4/semantic_1.png b/train/train221/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train221/4/semantic_1.png differ diff --git a/train/train221/color_to_object_id.json b/train/train221/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train221/color_to_object_id.json @@ -0,0 +1,1990 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|5|1": [ + 130, + 218, + 61 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Painting|3|7": [ + 179, + 232, + 3 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|2|4": [ + 168, + 73, + 214 + ] + }, + { + "Painting|2|3": [ + 50, + 126, + 53 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|6|6": [ + 102, + 53, + 26 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TissueBox|surface|6|54": [ + 199, + 91, + 170 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TissueBox|surface|6|53": [ + 18, + 46, + 133 + ] + }, + { + "CellPhone|surface|6|51": [ + 62, + 155, + 115 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CellPhone|surface|6|50": [ + 120, + 22, + 133 + ] + }, + { + "CreditCard|surface|6|42": [ + 65, + 44, + 75 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Book|surface|6|41": [ + 24, + 39, + 127 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Desk|6|5": [ + 13, + 75, + 159 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "GarbageCan|6|4": [ + 117, + 43, + 87 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Laptop|surface|6|58": [ + 87, + 35, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|6|55": [ + 207, + 105, + 146 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DeskLamp|surface|6|49": [ + 87, + 127, + 133 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Pencil|surface|6|43": [ + 151, + 33, + 115 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Box|6|2": [ + 241, + 14, + 186 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|57": [ + 171, + 21, + 4 + ] + }, + { + "CellPhone|surface|6|56": [ + 93, + 9, + 109 + ] + }, + { + "Vase|surface|6|52": [ + 234, + 96, + 199 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|6|48": [ + 152, + 13, + 237 + ] + }, + { + "Book|surface|6|46": [ + 119, + 227, + 245 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "AlarmClock|surface|6|39": [ + 103, + 142, + 66 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "TennisRacket|surface|6|47": [ + 9, + 170, + 110 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "RemoteControl|surface|6|44": [ + 172, + 50, + 175 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|6|40": [ + 18, + 8, + 167 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|5|4": [ + 191, + 61, + 36 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Safe|5|3": [ + 218, + 86, + 222 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Chair|5|2|4": [ + 99, + 174, + 176 + ] + }, + { + "Chair|5|2|3": [ + 210, + 165, + 135 + ] + }, + { + "Chair|5|2|2": [ + 11, + 225, + 10 + ] + }, + { + "Chair|5|2|1": [ + 142, + 232, + 13 + ] + }, + { + "Box|surface|5|37": [ + 248, + 37, + 196 + ] + }, + { + "Book|surface|5|36": [ + 51, + 144, + 225 + ] + }, + { + "Bowl|surface|5|33": [ + 250, + 216, + 98 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|5|32": [ + 182, + 235, + 89 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CreditCard|surface|5|31": [ + 94, + 66, + 93 + ] + }, + { + "RemoteControl|surface|5|27": [ + 228, + 21, + 152 + ] + }, + { + "DiningTable|5|2|0": [ + 25, + 135, + 226 + ] + }, + { + "Statue|surface|5|35": [ + 251, + 136, + 129 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "KeyChain|surface|5|34": [ + 39, + 237, + 149 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Vase|surface|5|30": [ + 116, + 90, + 102 + ] + }, + { + "Dresser|5|1___3": [ + 186, + 175, + 115 + ] + }, + { + "Dresser|5|1___2": [ + 193, + 31, + 77 + ] + }, + { + "Dresser|5|1___1": [ + 36, + 223, + 213 + ] + }, + { + "Dresser|5|1___0": [ + 42, + 182, + 193 + ] + }, + { + "Dresser|5|1": [ + 169, + 211, + 43 + ] + }, + { + "Pillow|surface|5|38": [ + 228, + 139, + 78 + ] + }, + { + "TeddyBear|surface|5|29": [ + 54, + 196, + 238 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "BaseballBat|surface|5|28": [ + 16, + 86, + 117 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "CellPhone|surface|4|17": [ + 37, + 199, + 23 + ] + }, + { + "Watch|surface|4|16": [ + 121, + 179, + 101 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Dresser|4|3___2": [ + 142, + 213, + 34 + ] + }, + { + "Dresser|4|3___1": [ + 22, + 100, + 55 + ] + }, + { + "Dresser|4|3___0": [ + 89, + 128, + 115 + ] + }, + { + "Dresser|4|3": [ + 92, + 22, + 49 + ] + }, + { + "FloorLamp|4|2": [ + 147, + 82, + 148 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Chair|4|1|4": [ + 78, + 48, + 24 + ] + }, + { + "Chair|4|1|3": [ + 178, + 87, + 59 + ] + }, + { + "Chair|4|1|2": [ + 59, + 92, + 140 + ] + }, + { + "Chair|4|1|1": [ + 23, + 202, + 17 + ] + }, + { + "Book|surface|4|26": [ + 74, + 176, + 203 + ] + }, + { + "Laptop|surface|4|23": [ + 120, + 244, + 89 + ] + }, + { + "DiningTable|4|1|0": [ + 52, + 59, + 190 + ] + }, + { + "Pen|surface|4|25": [ + 235, + 7, + 211 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|4|24": [ + 46, + 194, + 144 + ] + }, + { + "Book|surface|4|22": [ + 5, + 182, + 176 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Watch|surface|4|20": [ + 188, + 102, + 63 + ] + }, + { + "Plate|surface|4|19": [ + 220, + 118, + 245 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "KeyChain|surface|4|18": [ + 205, + 237, + 105 + ] + }, + { + "CellPhone|surface|4|15": [ + 51, + 24, + 157 + ] + }, + { + "Bowl|surface|4|14": [ + 4, + 235, + 91 + ] + }, + { + "Television|4|0|1": [ + 253, + 56, + 77 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|13": [ + 132, + 5, + 103 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|3|12": [ + 189, + 127, + 230 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|3|11": [ + 247, + 134, + 56 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "SoapBar|surface|3|10": [ + 160, + 203, + 144 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Potato|surface|2|7": [ + 254, + 188, + 49 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Tomato|surface|2|5": [ + 113, + 164, + 212 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Fork|surface|2|8": [ + 163, + 143, + 225 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Lettuce|surface|2|6": [ + 24, + 82, + 141 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "CreditCard|surface|2|4": [ + 169, + 235, + 99 + ] + }, + { + "Bread|surface|2|3": [ + 138, + 234, + 188 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "SoapBottle|surface|2|2": [ + 193, + 220, + 166 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Spoon|surface|2|1": [ + 230, + 162, + 137 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|0": [ + 246, + 90, + 73 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.741107|0": [ + 163, + 54, + 94 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.741107|0": [ + 166, + 161, + 114 + ] + }, + { + "Ceiling_room|4|0|3.741107|0": [ + 141, + 19, + 191 + ] + }, + { + "Ceiling_room|3|0|3.741107|0": [ + 235, + 57, + 190 + ] + }, + { + "Ceiling_room|2|0|3.741107|0": [ + 185, + 150, + 191 + ] + }, + { + "wall|exterior|11.45|0.00|11.45|6.54": [ + 105, + 148, + 102 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|9.81|0.00|11.45|0.00": [ + 84, + 206, + 179 + ] + }, + { + "wall|exterior|6.54|0.00|9.81|0.00": [ + 35, + 75, + 103 + ] + }, + { + "wall|exterior|3.27|0.00|6.54|0.00": [ + 155, + 107, + 176 + ] + }, + { + "wall|exterior|11.45|6.54|11.45|9.81": [ + 128, + 47, + 83 + ] + }, + { + "wall|exterior|3.27|8.18|3.27|9.81": [ + 70, + 211, + 178 + ] + }, + { + "wall|exterior|3.27|9.81|11.45|9.81": [ + 82, + 164, + 57 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.18": [ + 159, + 85, + 79 + ] + }, + { + "wall|exterior|0.00|8.18|3.27|8.18": [ + 147, + 254, + 245 + ] + }, + { + "wall|exterior|0.00|0.00|3.27|0.00": [ + 30, + 177, + 113 + ] + }, + { + "wall|6|3.27|6.54|6.54|6.54": [ + 243, + 41, + 235 + ] + }, + { + "wall|6|6.54|6.54|9.81|6.54": [ + 70, + 213, + 98 + ] + }, + { + "wall|6|9.81|6.54|11.45|6.54": [ + 241, + 121, + 234 + ] + }, + { + "wall|6|11.45|6.54|11.45|9.81": [ + 210, + 210, + 66 + ] + }, + { + "wall|6|3.27|9.81|11.45|9.81": [ + 3, + 255, + 68 + ] + }, + { + "wall|6|3.27|8.18|3.27|9.81": [ + 138, + 30, + 179 + ] + }, + { + "wall|6|3.27|6.54|3.27|8.18": [ + 26, + 227, + 98 + ] + }, + { + "wall|5|0.00|0.00|3.27|0.00": [ + 182, + 72, + 67 + ] + }, + { + "wall|5|3.27|0.00|3.27|6.54": [ + 210, + 68, + 18 + ] + }, + { + "wall|5|3.27|6.54|3.27|8.18": [ + 89, + 2, + 212 + ] + }, + { + "wall|5|0.00|8.18|3.27|8.18": [ + 196, + 4, + 46 + ] + }, + { + "wall|5|0.00|0.00|0.00|8.18": [ + 135, + 33, + 165 + ] + }, + { + "wall|4|3.27|0.00|6.54|0.00": [ + 47, + 211, + 89 + ] + }, + { + "wall|4|6.54|0.00|6.54|6.54": [ + 238, + 82, + 51 + ] + }, + { + "wall|4|3.27|6.54|6.54|6.54": [ + 1, + 45, + 36 + ] + }, + { + "wall|4|3.27|0.00|3.27|6.54": [ + 81, + 111, + 114 + ] + }, + { + "wall|3|9.81|0.00|11.45|0.00": [ + 88, + 132, + 56 + ] + }, + { + "wall|3|11.45|0.00|11.45|6.54": [ + 75, + 188, + 218 + ] + }, + { + "wall|3|9.81|6.54|11.45|6.54": [ + 46, + 214, + 38 + ] + }, + { + "wall|3|9.81|0.00|9.81|6.54": [ + 204, + 98, + 202 + ] + }, + { + "wall|2|6.54|0.00|9.81|0.00": [ + 220, + 158, + 111 + ] + }, + { + "wall|2|9.81|0.00|9.81|6.54": [ + 177, + 121, + 70 + ] + }, + { + "wall|2|6.54|6.54|9.81|6.54": [ + 253, + 102, + 240 + ] + }, + { + "wall|2|6.54|0.00|6.54|6.54": [ + 181, + 45, + 190 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train221/top_down_image.png b/train/train221/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..95e64a4cb6e8bf9817138970d0a757baa368e4fe --- /dev/null +++ b/train/train221/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a2fee2b83138f1994573b427e1fea97e6480291c338096c115230f4e38d5efe +size 261784 diff --git a/train/train377/0/0.json b/train/train377/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train377/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train377/0/0_depth_npy.npy b/train/train377/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train377/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train377/0/0_semantic_sensor_npy.npy b/train/train377/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train377/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train377/0/1.json b/train/train377/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train377/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train377/0/1_depth_npy.npy b/train/train377/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train377/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train377/0/1_semantic_sensor_npy.npy b/train/train377/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train377/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train377/0/depth_0.png b/train/train377/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train377/0/depth_0.png differ diff --git a/train/train377/0/depth_1.png b/train/train377/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train377/0/depth_1.png differ diff --git a/train/train377/0/mask_questions.jsonl b/train/train377/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b12e27c250b86e7f04ba8bfdb48abf47cf333116 --- /dev/null +++ b/train/train377/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 9377, "folder_dir": "train377/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. DiningTable\nC. Chair\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "train377/0/rgb_0.png", "image_2": "train377/0/rgb_1.png", "mask_image": "train377/0/rgb_1_mask_Fridge|2|1.png", "options": ["Painting", "DiningTable", "Chair", "Fridge"]} +{"id": 9378, "folder_dir": "train377/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Bowl\nC. Chair\nD. Laptop", "answer": "C", "object_name": "Chair", "image_1": "train377/0/rgb_0.png", "image_2": "train377/0/rgb_1.png", "mask_image": "train377/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Fridge", "Bowl", "Chair", "Laptop"]} +{"id": 9379, "folder_dir": "train377/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Fridge\nC. Watch\nD. TVStand", "answer": "A", "object_name": "DiningTable", "image_1": "train377/0/rgb_0.png", "image_2": "train377/0/rgb_1.png", "mask_image": "train377/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["DiningTable", "Fridge", "Watch", "TVStand"]} +{"id": 9380, "folder_dir": "train377/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Fridge\nC. FloorLamp\nD. Painting", "answer": "B", "object_name": "Fridge", "image_1": "train377/0/rgb_1.png", "image_2": "train377/0/rgb_0.png", "mask_image": "train377/0/rgb_0_mask_Fridge|2|1.png", "options": ["Chair", "Fridge", "FloorLamp", "Painting"]} +{"id": 9381, "folder_dir": "train377/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Chair\nC. Fridge\nD. FloorLamp", "answer": "B", "object_name": "Chair", "image_1": "train377/0/rgb_1.png", "image_2": "train377/0/rgb_0.png", "mask_image": "train377/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Painting", "Chair", "Fridge", "FloorLamp"]} diff --git a/train/train377/0/questions_distance.jsonl b/train/train377/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca23d5178db3f4ab32ffb07bebe99a2a1366dcaa --- /dev/null +++ b/train/train377/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 3826, "folder_dir": "train377/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Plate\nC. Pen\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train377/0/rgb_0.png", "image_2": "train377/0/rgb_1.png"} +{"id": 3827, "folder_dir": "train377/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Vase\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train377/0/rgb_0.png", "image_2": "train377/0/rgb_1.png"} diff --git a/train/train377/0/rgb_0.png b/train/train377/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f3b5c35c39d855af563b04ef2c5b165dee2961eb --- /dev/null +++ b/train/train377/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df91ae126fe31db32ac9604bd750b4728d6e815034512cf1076e3437cd2c4031 +size 429956 diff --git a/train/train377/0/rgb_0_mask_Chair|4|1|1.png b/train/train377/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..2434d19a1b922094414d2782846e4468258994c5 --- /dev/null +++ b/train/train377/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd862a9f683f67a4650df48113de038a3505d0005ca1e290643777dd9249a515 +size 361363 diff --git a/train/train377/0/rgb_0_mask_Fridge|2|1.png b/train/train377/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..5cfcf57f59549d9722ce222b1f854c9d928aac26 --- /dev/null +++ b/train/train377/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9372f341e875c37e67446e0192ab06f153d05f26d4eef42764b192b487b65771 +size 369431 diff --git a/train/train377/0/rgb_1.png b/train/train377/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..45a4ae8f1cbb74ea9b2b41b5a3afb48cd637f30a --- /dev/null +++ b/train/train377/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6289acfc25f470c3fb81fcb071461dd4562107966c6653b36c3125001bc199b6 +size 449115 diff --git a/train/train377/0/rgb_1_mask_Chair|4|1|1.png b/train/train377/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..276cbcf1a84be90b9d6c5079dca831c961e8eb61 --- /dev/null +++ b/train/train377/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27b7eaba35ecc0947787339a6dbf093632a6d6dfb5fb4a13f8b1f5fd9c0279d9 +size 361931 diff --git a/train/train377/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train377/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..5943d382667cf40b530296df7f2aaff40590ca1e --- /dev/null +++ b/train/train377/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c99a82ed3873d7466403694100a899f0bf87306efc50817fd2a2f9c1021230fc +size 382302 diff --git a/train/train377/0/rgb_1_mask_Fridge|2|1.png b/train/train377/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..4d1653cc57d60364f9d9bf4c8f8e8549a03d2ffa --- /dev/null +++ b/train/train377/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b7c28a1d672c7e4b7642ab46ee5bcd14624fc9c699f03be7d6cf7f70fee08a4 +size 397837 diff --git a/train/train377/0/semantic_0.png b/train/train377/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train377/0/semantic_0.png differ diff --git a/train/train377/0/semantic_1.png b/train/train377/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train377/0/semantic_1.png differ diff --git a/train/train377/3/0.json b/train/train377/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train377/3/0.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train377/3/0_depth_npy.npy b/train/train377/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train377/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train377/3/0_semantic_sensor_npy.npy b/train/train377/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train377/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train377/3/1.json b/train/train377/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train377/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train377/3/1_depth_npy.npy b/train/train377/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train377/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train377/3/1_semantic_sensor_npy.npy b/train/train377/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train377/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train377/3/depth_0.png b/train/train377/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train377/3/depth_0.png differ diff --git a/train/train377/3/depth_1.png b/train/train377/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train377/3/depth_1.png differ diff --git a/train/train377/3/mask_questions.jsonl b/train/train377/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train377/3/questions_direction.jsonl b/train/train377/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..636f559140c003a08625f24d0a8816a34915ec6e --- /dev/null +++ b/train/train377/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 15200, "folder_dir": "train377/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train377/3/rgb_0.png", "image_2": "train377/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15201, "folder_dir": "train377/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train377/3/rgb_0.png", "image_2": "train377/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15202, "folder_dir": "train377/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train377/3/rgb_0.png", "image_2": "train377/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15203, "folder_dir": "train377/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train377/3/rgb_1.png", "image_2": "train377/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15204, "folder_dir": "train377/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train377/3/rgb_1.png", "image_2": "train377/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15205, "folder_dir": "train377/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train377/3/rgb_1.png", "image_2": "train377/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train377/3/rgb_0.png b/train/train377/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..172c63b49e444b5ab095e55a15851ef27925e11a --- /dev/null +++ b/train/train377/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94e81269fddaf93b41a17fffcc1e2d5c5851916d394eff97cd77cb3a3c0cb475 +size 193695 diff --git a/train/train377/3/rgb_1.png b/train/train377/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..da2c9d5886a5731c2b833577e0b4550626caa105 --- /dev/null +++ b/train/train377/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cad9c03fcec980906481362d37a74b39e8d9550ec635fed1eacb9c0829179b84 +size 244091 diff --git a/train/train377/3/semantic_0.png b/train/train377/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train377/3/semantic_0.png differ diff --git a/train/train377/3/semantic_1.png b/train/train377/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train377/3/semantic_1.png differ diff --git a/train/train377/4/0.json b/train/train377/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train377/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train377/4/0_depth_npy.npy b/train/train377/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train377/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train377/4/0_semantic_sensor_npy.npy b/train/train377/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train377/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train377/4/1.json b/train/train377/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train377/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train377/4/1_depth_npy.npy b/train/train377/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train377/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train377/4/1_semantic_sensor_npy.npy b/train/train377/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train377/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train377/4/depth_0.png b/train/train377/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train377/4/depth_0.png differ diff --git a/train/train377/4/depth_1.png b/train/train377/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train377/4/depth_1.png differ diff --git a/train/train377/4/mask_questions.jsonl b/train/train377/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train377/4/rgb_0.png b/train/train377/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2c8f56063b550ea48517061b94bb62b65ed1d352 --- /dev/null +++ b/train/train377/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a9eba4272a7e1c3f882d348dc674a1cb03b5384530feb6af0276b2893ee8366 +size 242152 diff --git a/train/train377/4/rgb_1.png b/train/train377/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ae04b82254315dc3f64e79b8016b51be9fa9b90e --- /dev/null +++ b/train/train377/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61cfb78a58f137890a0cebb9d006fdc197bab8687037b4c095d112f19532b82f +size 198450 diff --git a/train/train377/4/semantic_0.png b/train/train377/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train377/4/semantic_0.png differ diff --git a/train/train377/4/semantic_1.png b/train/train377/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train377/4/semantic_1.png differ diff --git a/train/train377/color_to_object_id.json b/train/train377/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train377/color_to_object_id.json @@ -0,0 +1,1990 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|5|1": [ + 130, + 218, + 61 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Painting|3|7": [ + 179, + 232, + 3 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|2|4": [ + 168, + 73, + 214 + ] + }, + { + "Painting|2|3": [ + 50, + 126, + 53 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|6|6": [ + 102, + 53, + 26 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TissueBox|surface|6|54": [ + 199, + 91, + 170 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TissueBox|surface|6|53": [ + 18, + 46, + 133 + ] + }, + { + "CellPhone|surface|6|51": [ + 62, + 155, + 115 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CellPhone|surface|6|50": [ + 120, + 22, + 133 + ] + }, + { + "CreditCard|surface|6|42": [ + 65, + 44, + 75 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Book|surface|6|41": [ + 24, + 39, + 127 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Desk|6|5": [ + 13, + 75, + 159 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "GarbageCan|6|4": [ + 117, + 43, + 87 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Laptop|surface|6|58": [ + 87, + 35, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|6|55": [ + 207, + 105, + 146 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DeskLamp|surface|6|49": [ + 87, + 127, + 133 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Pencil|surface|6|43": [ + 151, + 33, + 115 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Box|6|2": [ + 241, + 14, + 186 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|57": [ + 171, + 21, + 4 + ] + }, + { + "CellPhone|surface|6|56": [ + 93, + 9, + 109 + ] + }, + { + "Vase|surface|6|52": [ + 234, + 96, + 199 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|6|48": [ + 152, + 13, + 237 + ] + }, + { + "Book|surface|6|46": [ + 119, + 227, + 245 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "AlarmClock|surface|6|39": [ + 103, + 142, + 66 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "TennisRacket|surface|6|47": [ + 9, + 170, + 110 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "RemoteControl|surface|6|44": [ + 172, + 50, + 175 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|6|40": [ + 18, + 8, + 167 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|5|4": [ + 191, + 61, + 36 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Safe|5|3": [ + 218, + 86, + 222 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Chair|5|2|4": [ + 99, + 174, + 176 + ] + }, + { + "Chair|5|2|3": [ + 210, + 165, + 135 + ] + }, + { + "Chair|5|2|2": [ + 11, + 225, + 10 + ] + }, + { + "Chair|5|2|1": [ + 142, + 232, + 13 + ] + }, + { + "Box|surface|5|37": [ + 248, + 37, + 196 + ] + }, + { + "Book|surface|5|36": [ + 51, + 144, + 225 + ] + }, + { + "Bowl|surface|5|33": [ + 250, + 216, + 98 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|5|32": [ + 182, + 235, + 89 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CreditCard|surface|5|31": [ + 94, + 66, + 93 + ] + }, + { + "RemoteControl|surface|5|27": [ + 228, + 21, + 152 + ] + }, + { + "DiningTable|5|2|0": [ + 25, + 135, + 226 + ] + }, + { + "Statue|surface|5|35": [ + 251, + 136, + 129 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "KeyChain|surface|5|34": [ + 39, + 237, + 149 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Vase|surface|5|30": [ + 116, + 90, + 102 + ] + }, + { + "Dresser|5|1___3": [ + 186, + 175, + 115 + ] + }, + { + "Dresser|5|1___2": [ + 193, + 31, + 77 + ] + }, + { + "Dresser|5|1___1": [ + 36, + 223, + 213 + ] + }, + { + "Dresser|5|1___0": [ + 42, + 182, + 193 + ] + }, + { + "Dresser|5|1": [ + 169, + 211, + 43 + ] + }, + { + "Pillow|surface|5|38": [ + 228, + 139, + 78 + ] + }, + { + "TeddyBear|surface|5|29": [ + 54, + 196, + 238 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "BaseballBat|surface|5|28": [ + 16, + 86, + 117 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "CellPhone|surface|4|17": [ + 37, + 199, + 23 + ] + }, + { + "Watch|surface|4|16": [ + 121, + 179, + 101 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Dresser|4|3___2": [ + 142, + 213, + 34 + ] + }, + { + "Dresser|4|3___1": [ + 22, + 100, + 55 + ] + }, + { + "Dresser|4|3___0": [ + 89, + 128, + 115 + ] + }, + { + "Dresser|4|3": [ + 92, + 22, + 49 + ] + }, + { + "FloorLamp|4|2": [ + 147, + 82, + 148 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Chair|4|1|4": [ + 78, + 48, + 24 + ] + }, + { + "Chair|4|1|3": [ + 178, + 87, + 59 + ] + }, + { + "Chair|4|1|2": [ + 59, + 92, + 140 + ] + }, + { + "Chair|4|1|1": [ + 23, + 202, + 17 + ] + }, + { + "Book|surface|4|26": [ + 74, + 176, + 203 + ] + }, + { + "Laptop|surface|4|23": [ + 120, + 244, + 89 + ] + }, + { + "DiningTable|4|1|0": [ + 52, + 59, + 190 + ] + }, + { + "Pen|surface|4|25": [ + 235, + 7, + 211 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|4|24": [ + 46, + 194, + 144 + ] + }, + { + "Book|surface|4|22": [ + 5, + 182, + 176 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Watch|surface|4|20": [ + 188, + 102, + 63 + ] + }, + { + "Plate|surface|4|19": [ + 220, + 118, + 245 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "KeyChain|surface|4|18": [ + 205, + 237, + 105 + ] + }, + { + "CellPhone|surface|4|15": [ + 51, + 24, + 157 + ] + }, + { + "Bowl|surface|4|14": [ + 4, + 235, + 91 + ] + }, + { + "Television|4|0|1": [ + 253, + 56, + 77 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|13": [ + 132, + 5, + 103 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|3|12": [ + 189, + 127, + 230 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|3|11": [ + 247, + 134, + 56 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "SoapBar|surface|3|10": [ + 160, + 203, + 144 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Potato|surface|2|7": [ + 254, + 188, + 49 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Tomato|surface|2|5": [ + 113, + 164, + 212 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Fork|surface|2|8": [ + 163, + 143, + 225 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Lettuce|surface|2|6": [ + 24, + 82, + 141 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "CreditCard|surface|2|4": [ + 169, + 235, + 99 + ] + }, + { + "Bread|surface|2|3": [ + 138, + 234, + 188 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "SoapBottle|surface|2|2": [ + 193, + 220, + 166 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Spoon|surface|2|1": [ + 230, + 162, + 137 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|0": [ + 246, + 90, + 73 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.741107|0": [ + 163, + 54, + 94 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.741107|0": [ + 166, + 161, + 114 + ] + }, + { + "Ceiling_room|4|0|3.741107|0": [ + 141, + 19, + 191 + ] + }, + { + "Ceiling_room|3|0|3.741107|0": [ + 235, + 57, + 190 + ] + }, + { + "Ceiling_room|2|0|3.741107|0": [ + 185, + 150, + 191 + ] + }, + { + "wall|exterior|11.45|0.00|11.45|6.54": [ + 105, + 148, + 102 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|9.81|0.00|11.45|0.00": [ + 84, + 206, + 179 + ] + }, + { + "wall|exterior|6.54|0.00|9.81|0.00": [ + 35, + 75, + 103 + ] + }, + { + "wall|exterior|3.27|0.00|6.54|0.00": [ + 155, + 107, + 176 + ] + }, + { + "wall|exterior|11.45|6.54|11.45|9.81": [ + 128, + 47, + 83 + ] + }, + { + "wall|exterior|3.27|8.18|3.27|9.81": [ + 70, + 211, + 178 + ] + }, + { + "wall|exterior|3.27|9.81|11.45|9.81": [ + 82, + 164, + 57 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.18": [ + 159, + 85, + 79 + ] + }, + { + "wall|exterior|0.00|8.18|3.27|8.18": [ + 147, + 254, + 245 + ] + }, + { + "wall|exterior|0.00|0.00|3.27|0.00": [ + 30, + 177, + 113 + ] + }, + { + "wall|6|3.27|6.54|6.54|6.54": [ + 243, + 41, + 235 + ] + }, + { + "wall|6|6.54|6.54|9.81|6.54": [ + 70, + 213, + 98 + ] + }, + { + "wall|6|9.81|6.54|11.45|6.54": [ + 241, + 121, + 234 + ] + }, + { + "wall|6|11.45|6.54|11.45|9.81": [ + 210, + 210, + 66 + ] + }, + { + "wall|6|3.27|9.81|11.45|9.81": [ + 3, + 255, + 68 + ] + }, + { + "wall|6|3.27|8.18|3.27|9.81": [ + 138, + 30, + 179 + ] + }, + { + "wall|6|3.27|6.54|3.27|8.18": [ + 26, + 227, + 98 + ] + }, + { + "wall|5|0.00|0.00|3.27|0.00": [ + 182, + 72, + 67 + ] + }, + { + "wall|5|3.27|0.00|3.27|6.54": [ + 210, + 68, + 18 + ] + }, + { + "wall|5|3.27|6.54|3.27|8.18": [ + 89, + 2, + 212 + ] + }, + { + "wall|5|0.00|8.18|3.27|8.18": [ + 196, + 4, + 46 + ] + }, + { + "wall|5|0.00|0.00|0.00|8.18": [ + 135, + 33, + 165 + ] + }, + { + "wall|4|3.27|0.00|6.54|0.00": [ + 47, + 211, + 89 + ] + }, + { + "wall|4|6.54|0.00|6.54|6.54": [ + 238, + 82, + 51 + ] + }, + { + "wall|4|3.27|6.54|6.54|6.54": [ + 1, + 45, + 36 + ] + }, + { + "wall|4|3.27|0.00|3.27|6.54": [ + 81, + 111, + 114 + ] + }, + { + "wall|3|9.81|0.00|11.45|0.00": [ + 88, + 132, + 56 + ] + }, + { + "wall|3|11.45|0.00|11.45|6.54": [ + 75, + 188, + 218 + ] + }, + { + "wall|3|9.81|6.54|11.45|6.54": [ + 46, + 214, + 38 + ] + }, + { + "wall|3|9.81|0.00|9.81|6.54": [ + 204, + 98, + 202 + ] + }, + { + "wall|2|6.54|0.00|9.81|0.00": [ + 220, + 158, + 111 + ] + }, + { + "wall|2|9.81|0.00|9.81|6.54": [ + 177, + 121, + 70 + ] + }, + { + "wall|2|6.54|6.54|9.81|6.54": [ + 253, + 102, + 240 + ] + }, + { + "wall|2|6.54|0.00|6.54|6.54": [ + 181, + 45, + 190 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train377/top_down_image.png b/train/train377/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..ff7f7ed9e0699dbabcf863b429349832d0e3955c --- /dev/null +++ b/train/train377/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0c6b30928d3ac3958f90a5a8d4e5f8155ee60db6306c61dcb3633edd0919ea8 +size 261670 diff --git a/train/train505/0/0.json b/train/train505/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train505/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train505/0/0_depth_npy.npy b/train/train505/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train505/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train505/0/0_semantic_sensor_npy.npy b/train/train505/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train505/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train505/0/1.json b/train/train505/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train505/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train505/0/1_depth_npy.npy b/train/train505/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train505/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train505/0/1_semantic_sensor_npy.npy b/train/train505/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train505/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train505/0/depth_0.png b/train/train505/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train505/0/depth_0.png differ diff --git a/train/train505/0/depth_1.png b/train/train505/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train505/0/depth_1.png differ diff --git a/train/train505/0/mask_questions.jsonl b/train/train505/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a64b2e775eeca0159968977b4550479d1cf4506b --- /dev/null +++ b/train/train505/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 9351, "folder_dir": "train505/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Bowl\nB. CreditCard\nC. Fridge\nD. Chair", "answer": "C", "object_name": "Fridge", "image_1": "train505/0/rgb_0.png", "image_2": "train505/0/rgb_1.png", "mask_image": "train505/0/rgb_1_mask_Fridge|2|1.png", "options": ["Bowl", "CreditCard", "Fridge", "Chair"]} +{"id": 9352, "folder_dir": "train505/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. CreditCard\nC. Chair\nD. Plate", "answer": "C", "object_name": "Chair", "image_1": "train505/0/rgb_0.png", "image_2": "train505/0/rgb_1.png", "mask_image": "train505/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Fridge", "CreditCard", "Chair", "Plate"]} +{"id": 9353, "folder_dir": "train505/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. CreditCard\nC. Fridge\nD. Plate", "answer": "A", "object_name": "DiningTable", "image_1": "train505/0/rgb_0.png", "image_2": "train505/0/rgb_1.png", "mask_image": "train505/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["DiningTable", "CreditCard", "Fridge", "Plate"]} +{"id": 9354, "folder_dir": "train505/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Painting\nC. Chair\nD. FloorLamp", "answer": "A", "object_name": "Fridge", "image_1": "train505/0/rgb_1.png", "image_2": "train505/0/rgb_0.png", "mask_image": "train505/0/rgb_0_mask_Fridge|2|1.png", "options": ["Fridge", "Painting", "Chair", "FloorLamp"]} +{"id": 9355, "folder_dir": "train505/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Painting\nC. Fridge\nD. FloorLamp", "answer": "A", "object_name": "Chair", "image_1": "train505/0/rgb_1.png", "image_2": "train505/0/rgb_0.png", "mask_image": "train505/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Chair", "Painting", "Fridge", "FloorLamp"]} diff --git a/train/train505/0/questions_distance.jsonl b/train/train505/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e13b168af875d76634e245175365a1eee19f7c1 --- /dev/null +++ b/train/train505/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 3816, "folder_dir": "train505/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Plate\nC. Pen\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train505/0/rgb_0.png", "image_2": "train505/0/rgb_1.png"} +{"id": 3817, "folder_dir": "train505/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Laptop\nC. Vase\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train505/0/rgb_0.png", "image_2": "train505/0/rgb_1.png"} diff --git a/train/train505/0/rgb_0.png b/train/train505/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7671b250872c1165737b1c90845dc6a5035fdc58 --- /dev/null +++ b/train/train505/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:962325b116a3b56753436314cf3f93c9b3c2c41b7c7857c969ef7180309c1b8e +size 429937 diff --git a/train/train505/0/rgb_0_mask_Chair|4|1|1.png b/train/train505/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9649d4db81ac39326feead1cca536837b3eed56f --- /dev/null +++ b/train/train505/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d990b590b0c181c606dc762ff55c7040807d33c20a337f66fb08c302f24e67d4 +size 361348 diff --git a/train/train505/0/rgb_0_mask_Fridge|2|1.png b/train/train505/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..c4c94c781cfe4439f79c5fdbd7da7e36854b5773 --- /dev/null +++ b/train/train505/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1c86b2fc885e8c0709bdbd4ab030f326c21d2e3f2b82abe394083291188da58 +size 369458 diff --git a/train/train505/0/rgb_1.png b/train/train505/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..94e7888727b0cc742e58e6e984be8f403b19afa4 --- /dev/null +++ b/train/train505/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f640f9517614d99234f26795e1a7345bece4af52c80c11bdc1288fdb7712a07d +size 449078 diff --git a/train/train505/0/rgb_1_mask_Chair|4|1|1.png b/train/train505/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..2919dd31702377738b82774e62ce9aa001e07850 --- /dev/null +++ b/train/train505/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f54caef7a5ceeea03699a62689daeca88a39aa0621b08f8519b539ac378001f +size 361948 diff --git a/train/train505/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train505/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..8cd9a49f1457f02d767c5b65aab4b045cf09c04e --- /dev/null +++ b/train/train505/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cdd283c844fcf42577cea166e3d6c421c97679c23464b029684b0e0523bbb24 +size 382322 diff --git a/train/train505/0/rgb_1_mask_Fridge|2|1.png b/train/train505/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..530bdd9fc7988a59b28442d8390daaf3128a5302 --- /dev/null +++ b/train/train505/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f2a1b80d8f9d95f80cca6938494c4130e1fb89a1ffa0301695ba41f99c223c2 +size 397852 diff --git a/train/train505/0/semantic_0.png b/train/train505/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train505/0/semantic_0.png differ diff --git a/train/train505/0/semantic_1.png b/train/train505/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train505/0/semantic_1.png differ diff --git a/train/train505/1/0.json b/train/train505/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9ece4fce04d60628e736d29ac4e72139dc87ef21 --- /dev/null +++ b/train/train505/1/0.json @@ -0,0 +1,3683 @@ +{ + "object": [ + { + "objectId": "FloorLamp|2|3|1", + "object_info": { + "name": "FloorLamp|2|3|1", + "position": { + "x": 6.033313274383545, + "y": 0.004549860954284668, + "z": 7.231386184692383 + }, + "rotation": { + "x": -0.004860995337367058, + "y": 326.33941650390625, + "z": 0.051482073962688446 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 6.925739765167236, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|3|1", + "assetId": "Floor_Lamp_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.3174238204956055, + 1.904921293258667, + 7.515944480895996 + ], + [ + 6.3174238204956055, + 1.904921293258667, + 6.939213752746582 + ], + [ + 6.3174238204956055, + -2.0205974578857422e-05, + 7.515944480895996 + ], + [ + 6.3174238204956055, + -2.0205974578857422e-05, + 6.939213752746582 + ], + [ + 5.741339683532715, + 1.904921293258667, + 7.515944480895996 + ], + [ + 5.741339683532715, + 1.904921293258667, + 6.939213752746582 + ], + [ + 5.741339683532715, + -2.0205974578857422e-05, + 7.515944480895996 + ], + [ + 5.741339683532715, + -2.0205974578857422e-05, + 6.939213752746582 + ] + ], + "center": { + "x": 6.02938175201416, + "y": 0.9524505734443665, + "z": 7.227579116821289 + }, + "size": { + "x": 0.5760841369628906, + "y": 1.9049415588378906, + "z": 0.5767307281494141 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.088647365570068, + 0.0003026057966053486, + 7.51788330078125 + ], + [ + 5.742645263671875, + -7.091416046023369e-05, + 7.287472724914551 + ], + [ + 5.973851680755615, + -0.00010630395263433456, + 6.9402756690979 + ], + [ + 6.319853782653809, + 0.0002672160044312477, + 7.170686721801758 + ], + [ + 6.0873122215271, + 1.904923677444458, + 7.516800403594971 + ], + [ + 5.741310119628906, + 1.9045501947402954, + 7.286389350891113 + ], + [ + 5.9725165367126465, + 1.9045149087905884, + 6.939192771911621 + ], + [ + 6.31851863861084, + 1.904888391494751, + 7.1696038246154785 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|1", + "object_info": { + "name": "Chair|2|1|1", + "position": { + "x": 3.40079402923584, + "y": 0.013664305210113525, + "z": 4.242816925048828 + }, + "rotation": { + "x": 0.0, + "y": 260.7631530761719, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.103986978530884, + "objectType": "Chair", + "objectId": "Chair|2|1|1", + "assetId": "Chair_311_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.739656448364258, + 0.8401098847389221, + 4.515664100646973 + ], + [ + 3.739656448364258, + 0.8401098847389221, + 3.949650764465332 + ], + [ + 3.739656448364258, + -3.0219554901123047e-05, + 4.515664100646973 + ], + [ + 3.739656448364258, + -3.0219554901123047e-05, + 3.949650764465332 + ], + [ + 3.0542030334472656, + 0.8401098847389221, + 4.515664100646973 + ], + [ + 3.0542030334472656, + 0.8401098847389221, + 3.949650764465332 + ], + [ + 3.0542030334472656, + -3.0219554901123047e-05, + 4.515664100646973 + ], + [ + 3.0542030334472656, + -3.0219554901123047e-05, + 3.949650764465332 + ] + ], + "center": { + "x": 3.3969297409057617, + "y": 0.4200398325920105, + "z": 4.232657432556152 + }, + "size": { + "x": 0.6854534149169922, + "y": 0.8401401042938232, + "z": 0.5660133361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0523431301116943, + -2.995133399963379e-05, + 4.427985191345215 + ], + [ + 3.1309564113616943, + -2.995133399963379e-05, + 3.944582462310791 + ], + [ + 3.7449285984039307, + -2.995133399963379e-05, + 4.044429779052734 + ], + [ + 3.6663155555725098, + -2.995133399963379e-05, + 4.527832508087158 + ], + [ + 3.0523431301116943, + 0.840109646320343, + 4.427985191345215 + ], + [ + 3.1309564113616943, + 0.840109646320343, + 3.944582462310791 + ], + [ + 3.7449285984039307, + 0.840109646320343, + 4.044429779052734 + ], + [ + 3.6663155555725098, + 0.840109646320343, + 4.527832508087158 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.045083522796631 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Vase|surface|2|6", + "Television|2|0|1", + "KeyChain|surface|2|1", + "Pencil|surface|2|5" + ], + "distance": 5.97608757019043, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 7.663999557495117 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.42619514465332 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 7.663999557495117 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.42619514465332 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 7.663999557495117 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.42619514465332 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 7.663999557495117 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.42619514465332 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.045097351074219 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.42619514465332 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 7.663999557495117 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 7.663999557495117 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.42619514465332 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.42619514465332 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 7.663999557495117 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 7.663999557495117 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.42619514465332 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.28324347734451294, + "y": 0.9386330842971802, + "z": 7.045097351074219 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.883677005767822, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3870675563812256, + 1.2561266422271729, + 7.545097351074219 + ], + [ + 0.3870675563812256, + 1.2561266422271729, + 6.545097351074219 + ], + [ + 0.3870675563812256, + 0.45024919509887695, + 7.545097351074219 + ], + [ + 0.3870675563812256, + 0.45024919509887695, + 6.545097351074219 + ], + [ + 0.03280903398990631, + 1.2561266422271729, + 7.545097351074219 + ], + [ + 0.03280903398990631, + 1.2561266422271729, + 6.545097351074219 + ], + [ + 0.03280903398990631, + 0.45024919509887695, + 7.545097351074219 + ], + [ + 0.03280903398990631, + 0.45024919509887695, + 6.545097351074219 + ] + ], + "center": { + "x": 0.20993830263614655, + "y": 0.8531879186630249, + "z": 7.045097351074219 + }, + "size": { + "x": 0.35425853729248047, + "y": 0.8058774471282959, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.38706743717193604, + 0.4502493441104889, + 6.545097351074219 + ], + [ + 0.3870675563812256, + 0.4502493441104889, + 7.545097351074219 + ], + [ + 0.032809168100357056, + 0.4502493441104889, + 7.545097351074219 + ], + [ + 0.032809048891067505, + 0.4502493441104889, + 6.545097351074219 + ], + [ + 0.38706743717193604, + 1.2561266422271729, + 6.545097351074219 + ], + [ + 0.3870675563812256, + 1.2561266422271729, + 7.545097351074219 + ], + [ + 0.032809168100357056, + 1.2561266422271729, + 7.545097351074219 + ], + [ + 0.032809048891067505, + 1.2561266422271729, + 6.545097351074219 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|2|15", + "object_info": { + "name": "Laptop|surface|2|15", + "position": { + "x": 0.1717393398284912, + "y": 0.2722490429878235, + "z": 6.742919445037842 + }, + "rotation": { + "x": 3.5262190067442134e-05, + "y": 90.00004577636719, + "z": -8.323108340846375e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.674742221832275, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|15", + "assetId": "Laptop_11", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31771552562713623, + 0.3006870746612549, + 6.9218597412109375 + ], + [ + 0.31771552562713623, + 0.3006870746612549, + 6.563979148864746 + ], + [ + 0.31771552562713623, + 0.27224868535995483, + 6.9218597412109375 + ], + [ + 0.31771552562713623, + 0.27224868535995483, + 6.563979148864746 + ], + [ + 0.053603917360305786, + 0.3006870746612549, + 6.9218597412109375 + ], + [ + 0.053603917360305786, + 0.3006870746612549, + 6.563979148864746 + ], + [ + 0.053603917360305786, + 0.27224868535995483, + 6.9218597412109375 + ], + [ + 0.053603917360305786, + 0.27224868535995483, + 6.563979148864746 + ] + ], + "center": { + "x": 0.185659721493721, + "y": 0.28646788001060486, + "z": 6.742919445037842 + }, + "size": { + "x": 0.26411160826683044, + "y": 0.02843838930130005, + "z": 0.3578805923461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.31771522760391235, + 0.27224868535995483, + 6.563979148864746 + ], + [ + 0.31771552562713623, + 0.2722492218017578, + 6.921859264373779 + ], + [ + 0.053604185581207275, + 0.27224937081336975, + 6.9218597412109375 + ], + [ + 0.0536038875579834, + 0.27224886417388916, + 6.563979625701904 + ], + [ + 0.31771522760391235, + 0.30068638920783997, + 6.563979148864746 + ], + [ + 0.31771552562713623, + 0.30068689584732056, + 6.921859264373779 + ], + [ + 0.05360420048236847, + 0.3006870746612549, + 6.921859264373779 + ], + [ + 0.05360390245914459, + 0.3006865382194519, + 6.563979625701904 + ] + ] + } + } + }, + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 2.9205009937286377, + "y": 1.5338008403778076, + "z": 7.684004306793213 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 6.252353191375732, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.3992745876312256, + 1.8621785640716553, + 7.684000015258789 + ], + [ + 3.3992745876312256, + 1.8621785640716553, + 7.65225887298584 + ], + [ + 3.3992745876312256, + 1.20542311668396, + 7.684000015258789 + ], + [ + 3.3992745876312256, + 1.20542311668396, + 7.65225887298584 + ], + [ + 2.44172739982605, + 1.8621785640716553, + 7.684000015258789 + ], + [ + 2.44172739982605, + 1.8621785640716553, + 7.65225887298584 + ], + [ + 2.44172739982605, + 1.20542311668396, + 7.684000015258789 + ], + [ + 2.44172739982605, + 1.20542311668396, + 7.65225887298584 + ] + ], + "center": { + "x": 2.9205009937286377, + "y": 1.5338008403778076, + "z": 7.6681294441223145 + }, + "size": { + "x": 0.9575471878051758, + "y": 0.6567554473876953, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DeskLamp|surface|2|7", + "object_info": { + "name": "DeskLamp|surface|2|7", + "position": { + "x": 2.804732322692871, + "y": 0.7813308835029602, + "z": 4.2361979484558105 + }, + "rotation": { + "x": 0.011068922467529774, + "y": 90.00056457519531, + "z": 0.011609411798417568 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.7944281101226807, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|2|7", + "assetId": "Desk_Lamp_4", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.901235580444336, + 1.1488263607025146, + 4.344791412353516 + ], + [ + 2.901235580444336, + 1.1488263607025146, + 4.127719879150391 + ], + [ + 2.901235580444336, + 0.7804625034332275, + 4.344791412353516 + ], + [ + 2.901235580444336, + 0.7804625034332275, + 4.127719879150391 + ], + [ + 2.708235740661621, + 1.1488263607025146, + 4.344791412353516 + ], + [ + 2.708235740661621, + 1.1488263607025146, + 4.127719879150391 + ], + [ + 2.708235740661621, + 0.7804625034332275, + 4.344791412353516 + ], + [ + 2.708235740661621, + 0.7804625034332275, + 4.127719879150391 + ] + ], + "center": { + "x": 2.8047356605529785, + "y": 0.9646444320678711, + "z": 4.236255645751953 + }, + "size": { + "x": 0.19299983978271484, + "y": 0.3683638572692871, + "z": 0.217071533203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.9012339115142822, + 0.7804823517799377, + 4.127673625946045 + ], + [ + 2.901236057281494, + 0.7804383635520935, + 4.344717979431152 + ], + [ + 2.7082326412200928, + 0.7804756760597229, + 4.344719886779785 + ], + [ + 2.708230495452881, + 0.7805196046829224, + 4.127675533294678 + ], + [ + 2.9013051986694336, + 1.1488335132598877, + 4.127748012542725 + ], + [ + 2.9013073444366455, + 1.1487895250320435, + 4.34479284286499 + ], + [ + 2.708303689956665, + 1.1488268375396729, + 4.344794750213623 + ], + [ + 2.708301544189453, + 1.148870825767517, + 4.127749919891357 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 7.0871500968933105, + "y": 0.0025141239166259766, + "z": 7.218180179595947 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 7.543399810791016, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_205_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.663996696472168, + 0.8599715232849121, + 7.664050579071045 + ], + [ + 7.663996696472168, + 0.8599715232849121, + 6.794226169586182 + ], + [ + 7.663996696472168, + -1.7583370208740234e-05, + 7.664050579071045 + ], + [ + 7.663996696472168, + -1.7583370208740234e-05, + 6.794226169586182 + ], + [ + 6.509860038757324, + 0.8599715232849121, + 7.664050579071045 + ], + [ + 6.509860038757324, + 0.8599715232849121, + 6.794226169586182 + ], + [ + 6.509860038757324, + -1.7583370208740234e-05, + 7.664050579071045 + ], + [ + 6.509860038757324, + -1.7583370208740234e-05, + 6.794226169586182 + ] + ], + "center": { + "x": 7.086928367614746, + "y": 0.4299769699573517, + "z": 7.229138374328613 + }, + "size": { + "x": 1.1541366577148438, + "y": 0.8599891066551208, + "z": 0.8698244094848633 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.509859561920166, + -1.7404556274414062e-05, + 6.79422664642334 + ], + [ + 7.66399621963501, + -1.7404556274414062e-05, + 6.79422664642334 + ], + [ + 7.663996696472168, + -1.7404556274414062e-05, + 7.664050579071045 + ], + [ + 6.509860038757324, + -1.7404556274414062e-05, + 7.664051055908203 + ], + [ + 6.509859561920166, + 0.8599713444709778, + 6.79422664642334 + ], + [ + 7.66399621963501, + 0.8599713444709778, + 6.79422664642334 + ], + [ + 7.663996696472168, + 0.8599713444709778, + 7.664050579071045 + ], + [ + 6.509860038757324, + 0.8599713444709778, + 7.664051055908203 + ] + ] + } + } + }, + { + "objectId": "Candle|surface|2|14", + "object_info": { + "name": "Candle|surface|2|14", + "position": { + "x": 2.557537078857422, + "y": 0.7804574966430664, + "z": 4.901950836181641 + }, + "rotation": { + "x": 0.020100217312574387, + "y": 90.00296020507812, + "z": 359.9830627441406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Metal", + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.4179494380950928, + "objectType": "Candle", + "objectId": "Candle|surface|2|14", + "assetId": "RoboTHOR_candle_glittrig_3_v", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.608767032623291, + 1.1596379280090332, + 4.9514546394348145 + ], + [ + 2.608767032623291, + 1.1596379280090332, + 4.852334499359131 + ], + [ + 2.608767032623291, + 0.780424952507019, + 4.9514546394348145 + ], + [ + 2.608767032623291, + 0.780424952507019, + 4.852334499359131 + ], + [ + 2.5064401626586914, + 1.1596379280090332, + 4.9514546394348145 + ], + [ + 2.5064401626586914, + 1.1596379280090332, + 4.852334499359131 + ], + [ + 2.5064401626586914, + 0.780424952507019, + 4.9514546394348145 + ], + [ + 2.5064401626586914, + 0.780424952507019, + 4.852334499359131 + ] + ], + "center": { + "x": 2.557603597640991, + "y": 0.9700314402580261, + "z": 4.901894569396973 + }, + "size": { + "x": 0.10232686996459961, + "y": 0.37921297550201416, + "z": 0.0991201400756836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.608628988265991, + 0.780424952507019, + 4.852446556091309 + ], + [ + 2.6086339950561523, + 0.7804542183876038, + 4.951449871063232 + ], + [ + 2.5064451694488525, + 0.7804900407791138, + 4.951455116271973 + ], + [ + 2.5064401626586914, + 0.780460774898529, + 4.852451801300049 + ], + [ + 2.608761787414551, + 1.1595728397369385, + 4.852334499359131 + ], + [ + 2.608767032623291, + 1.1596020460128784, + 4.9513373374938965 + ], + [ + 2.506578207015991, + 1.1596379280090332, + 4.951343059539795 + ], + [ + 2.50657320022583, + 1.1596086025238037, + 4.852339744567871 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|2|11", + "object_info": { + "name": "Plate|surface|2|11", + "position": { + "x": 2.9283313751220703, + "y": 0.7806474566459656, + "z": 4.9019622802734375 + }, + "rotation": { + "x": -6.165472314023646e-06, + "y": 89.99996185302734, + "z": 4.122482835100527e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 3.471017837524414, + "objectType": "Plate", + "objectId": "Plate|surface|2|11", + "assetId": "Plate_11", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.039360523223877, + 0.8035833835601807, + 5.013463020324707 + ], + [ + 3.039360523223877, + 0.8035833835601807, + 4.790627479553223 + ], + [ + 3.039360523223877, + 0.7804646492004395, + 5.013463020324707 + ], + [ + 3.039360523223877, + 0.7804646492004395, + 4.790627479553223 + ], + [ + 2.8167014122009277, + 0.8035833835601807, + 5.013463020324707 + ], + [ + 2.8167014122009277, + 0.8035833835601807, + 4.790627479553223 + ], + [ + 2.8167014122009277, + 0.7804646492004395, + 5.013463020324707 + ], + [ + 2.8167014122009277, + 0.7804646492004395, + 4.790627479553223 + ] + ], + "center": { + "x": 2.9280309677124023, + "y": 0.7920240163803101, + "z": 4.902045249938965 + }, + "size": { + "x": 0.22265911102294922, + "y": 0.02311873435974121, + "z": 0.22283554077148438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.039360523223877, + 0.7804646492004395, + 4.790627479553223 + ], + [ + 3.039360523223877, + 0.7804646492004395, + 5.013462543487549 + ], + [ + 2.816701650619507, + 0.7804645895957947, + 5.013462066650391 + ], + [ + 2.816701889038086, + 0.7804645895957947, + 4.790627479553223 + ], + [ + 3.039360523223877, + 0.8035833835601807, + 4.790627479553223 + ], + [ + 3.039360523223877, + 0.8035833835601807, + 5.013462543487549 + ], + [ + 2.816701650619507, + 0.8035833239555359, + 5.013462066650391 + ], + [ + 2.816701889038086, + 0.8035833239555359, + 4.790627479553223 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|2|10", + "object_info": { + "name": "CreditCard|surface|2|10", + "position": { + "x": 0.2909723222255707, + "y": 0.2725938558578491, + "z": 7.335797309875488 + }, + "rotation": { + "x": 0.00010823734191944823, + "y": 4.104360778001137e-05, + "z": -0.00035501347156241536 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 6.187828063964844, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|10", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33405470848083496, + 0.2767389714717865, + 7.362796306610107 + ], + [ + 0.33405470848083496, + 0.2767389714717865, + 7.308798313140869 + ], + [ + 0.33405470848083496, + 0.272248774766922, + 7.362796306610107 + ], + [ + 0.33405470848083496, + 0.272248774766922, + 7.308798313140869 + ], + [ + 0.2478899359703064, + 0.2767389714717865, + 7.362796306610107 + ], + [ + 0.2478899359703064, + 0.2767389714717865, + 7.308798313140869 + ], + [ + 0.2478899359703064, + 0.272248774766922, + 7.362796306610107 + ], + [ + 0.2478899359703064, + 0.272248774766922, + 7.308798313140869 + ] + ], + "center": { + "x": 0.2909723222255707, + "y": 0.27449387311935425, + "z": 7.335797309875488 + }, + "size": { + "x": 0.08616477251052856, + "y": 0.004490196704864502, + "z": 0.05399799346923828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3340546786785126, + 0.272248774766922, + 7.362796306610107 + ], + [ + 0.24788999557495117, + 0.272249311208725, + 7.362796306610107 + ], + [ + 0.24788996577262878, + 0.27224940061569214, + 7.308798313140869 + ], + [ + 0.3340546488761902, + 0.27224886417388916, + 7.308798313140869 + ], + [ + 0.33405470848083496, + 0.27673834562301636, + 7.362796306610107 + ], + [ + 0.24789002537727356, + 0.27673888206481934, + 7.362796306610107 + ], + [ + 0.24788999557495117, + 0.2767389714717865, + 7.308798313140869 + ], + [ + 0.3340546786785126, + 0.2767384350299835, + 7.308798313140869 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.045081615447998 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Laptop|surface|2|15", + "CreditCard|surface|2|10", + "Pen|surface|2|9" + ], + "distance": 5.941683769226074, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 7.646132946014404 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.444030284881592 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 7.646132946014404 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.444030284881592 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 7.646132946014404 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.444030284881592 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 7.646132946014404 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.444030284881592 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.045081615447998 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|surface|2|9", + "object_info": { + "name": "Pen|surface|2|9", + "position": { + "x": 0.131995290517807, + "y": 0.2778940498828888, + "z": 7.039358139038086 + }, + "rotation": { + "x": 2.5640234525781125e-05, + "y": 1.3490539458871353e-05, + "z": -0.0001195283402921632 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.96311092376709, + "objectType": "Pen", + "objectId": "Pen|surface|2|9", + "assetId": "Pen_3", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.13764044642448425, + 0.28353893756866455, + 7.14575719833374 + ], + [ + 0.13764044642448425, + 0.28353893756866455, + 6.945919513702393 + ], + [ + 0.13764044642448425, + 0.27224916219711304, + 7.14575719833374 + ], + [ + 0.13764044642448425, + 0.27224916219711304, + 6.945919513702393 + ], + [ + 0.12635016441345215, + 0.28353893756866455, + 7.14575719833374 + ], + [ + 0.12635016441345215, + 0.28353893756866455, + 6.945919513702393 + ], + [ + 0.12635016441345215, + 0.27224916219711304, + 7.14575719833374 + ], + [ + 0.12635016441345215, + 0.27224916219711304, + 6.945919513702393 + ] + ], + "center": { + "x": 0.1319953054189682, + "y": 0.2778940498828888, + "z": 7.045838356018066 + }, + "size": { + "x": 0.011290282011032104, + "y": 0.011289775371551514, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.13764043152332306, + 0.27224913239479065, + 7.14575719833374 + ], + [ + 0.12635020911693573, + 0.27224916219711304, + 7.14575719833374 + ], + [ + 0.12635016441345215, + 0.2722492516040802, + 6.945919036865234 + ], + [ + 0.13764038681983948, + 0.2722492218017578, + 6.945919036865234 + ], + [ + 0.13764046132564545, + 0.2835388481616974, + 7.14575719833374 + ], + [ + 0.12635023891925812, + 0.2835388779640198, + 7.14575719833374 + ], + [ + 0.12635017931461334, + 0.28353896737098694, + 6.945919036865234 + ], + [ + 0.13764041662216187, + 0.28353893756866455, + 6.945919036865234 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.045146465301514 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Book|surface|2|13", + "CellPhone|surface|2|3", + "RemoteControl|surface|2|2" + ], + "distance": 5.964388370513916, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 7.64619779586792 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.444095134735107 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 7.64619779586792 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.444095134735107 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 7.64619779586792 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.444095134735107 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 7.64619779586792 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.444095134735107 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.045146465301514 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|2|2", + "object_info": { + "name": "RemoteControl|surface|2|2", + "position": { + "x": 0.13200770318508148, + "y": 0.08994869142770767, + "z": 6.742987632751465 + }, + "rotation": { + "x": 359.9859924316406, + "y": 0.0032201705034822226, + "z": 0.0017636691918596625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.712496280670166, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|2", + "assetId": "Remote_1", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.16602426767349243, + 0.10691650211811066, + 6.850394248962402 + ], + [ + 0.16602426767349243, + 0.10691650211811066, + 6.63478946685791 + ], + [ + 0.16602426767349243, + 0.08823128044605255, + 6.850394248962402 + ], + [ + 0.16602426767349243, + 0.08823128044605255, + 6.63478946685791 + ], + [ + 0.09799382090568542, + 0.10691650211811066, + 6.850394248962402 + ], + [ + 0.09799382090568542, + 0.10691650211811066, + 6.63478946685791 + ], + [ + 0.09799382090568542, + 0.08823128044605255, + 6.850394248962402 + ], + [ + 0.09799382090568542, + 0.08823128044605255, + 6.63478946685791 + ] + ], + "center": { + "x": 0.13200904428958893, + "y": 0.0975738912820816, + "z": 6.742591857910156 + }, + "size": { + "x": 0.068030446767807, + "y": 0.018685221672058105, + "z": 0.2156047821044922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.16602429747581482, + 0.08827220648527145, + 6.850390911102295 + ], + [ + 0.09800329059362411, + 0.08827011287212372, + 6.8503947257995605 + ], + [ + 0.09799117594957352, + 0.0882173627614975, + 6.634796142578125 + ], + [ + 0.16601216793060303, + 0.08821945637464523, + 6.634792327880859 + ], + [ + 0.16602371633052826, + 0.10691650211811066, + 6.850386142730713 + ], + [ + 0.09800271689891815, + 0.10691440850496292, + 6.8503899574279785 + ], + [ + 0.09799060225486755, + 0.1068616509437561, + 6.634791374206543 + ], + [ + 0.16601160168647766, + 0.10686374455690384, + 6.634787559509277 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 2.8047311305999756, + "y": 0.0008652806282043457, + "z": 4.236198425292969 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "DeskLamp|surface|2|7", + "Plate|surface|2|11", + "HousePlant|surface|2|0", + "Pen|surface|2|4", + "Candle|surface|2|14" + ], + "distance": 2.9333856105804443, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_208_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2985825538635254, + 0.7804646492004395, + 5.125759124755859 + ], + [ + 3.2985825538635254, + 0.7804646492004395, + 3.346637725830078 + ], + [ + 3.2985825538635254, + 2.562999725341797e-06, + 5.125759124755859 + ], + [ + 3.2985825538635254, + 2.562999725341797e-06, + 3.346637725830078 + ], + [ + 2.310879707336426, + 0.7804646492004395, + 5.125759124755859 + ], + [ + 2.310879707336426, + 0.7804646492004395, + 3.346637725830078 + ], + [ + 2.310879707336426, + 2.562999725341797e-06, + 5.125759124755859 + ], + [ + 2.310879707336426, + 2.562999725341797e-06, + 3.346637725830078 + ] + ], + "center": { + "x": 2.8047311305999756, + "y": 0.3902336061000824, + "z": 4.236198425292969 + }, + "size": { + "x": 0.9877028465270996, + "y": 0.7804620862007141, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.2985823154449463, + 2.6226043701171875e-06, + 3.346637487411499 + ], + [ + 3.2985825538635254, + 2.6226043701171875e-06, + 5.125759124755859 + ], + [ + 2.310879945755005, + 2.6226043701171875e-06, + 5.125759124755859 + ], + [ + 2.310879707336426, + 2.6226043701171875e-06, + 3.346637725830078 + ], + [ + 3.2985823154449463, + 0.7804644703865051, + 3.346637487411499 + ], + [ + 3.2985825538635254, + 0.7804644703865051, + 5.125759124755859 + ], + [ + 2.310879945755005, + 0.7804644703865051, + 5.125759124755859 + ], + [ + 2.310879707336426, + 0.7804644703865051, + 3.346637725830078 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 2.206246852874756, + "y": 0.013664305210113525, + "z": 4.230980396270752 + }, + "rotation": { + "x": -0.0, + "y": 103.88829803466797, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Bowl|surface|2|8" + ], + "distance": 2.871851682662964, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "Chair_311_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5638856887817383, + 0.8401099443435669, + 4.524788856506348 + ], + [ + 2.5638856887817383, + 0.8401099443435669, + 3.9249258041381836 + ], + [ + 2.5638856887817383, + -3.0219554901123047e-05, + 4.524788856506348 + ], + [ + 2.5638856887817383, + -3.0219554901123047e-05, + 3.9249258041381836 + ], + [ + 1.8616132736206055, + 0.8401099443435669, + 4.524788856506348 + ], + [ + 1.8616132736206055, + 0.8401099443435669, + 3.9249258041381836 + ], + [ + 1.8616132736206055, + -3.0219554901123047e-05, + 4.524788856506348 + ], + [ + 1.8616132736206055, + -3.0219554901123047e-05, + 3.9249258041381836 + ] + ], + "center": { + "x": 2.212749481201172, + "y": 0.4200398623943329, + "z": 4.224857330322266 + }, + "size": { + "x": 0.7022724151611328, + "y": 0.840140163898468, + "z": 0.5998630523681641 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4539761543273926, + -2.995133399963379e-05, + 3.923839569091797 + ], + [ + 2.5715315341949463, + -2.995133399963379e-05, + 4.399275302886963 + ], + [ + 1.9676785469055176, + -2.995133399963379e-05, + 4.548583030700684 + ], + [ + 1.8501231670379639, + -2.995133399963379e-05, + 4.073147296905518 + ], + [ + 2.4539761543273926, + 0.840109646320343, + 3.923839569091797 + ], + [ + 2.5715315341949463, + 0.840109646320343, + 4.399275302886963 + ], + [ + 1.9676785469055176, + 0.840109646320343, + 4.548583030700684 + ], + [ + 1.8501231670379639, + 0.840109646320343, + 4.073147296905518 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|3", + "object_info": { + "name": "CellPhone|surface|2|3", + "position": { + "x": 0.13199293613433838, + "y": 0.08787509799003601, + "z": 6.891202926635742 + }, + "rotation": { + "x": -0.00010856745211640373, + "y": 89.99992370605469, + "z": -0.0014996594982221723 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.849119186401367, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|3", + "assetId": "Cellphone_7", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.20629559457302094, + 0.09853186458349228, + 6.92924165725708 + ], + [ + 0.20629559457302094, + 0.09853186458349228, + 6.853164196014404 + ], + [ + 0.20629559457302094, + 0.0882478728890419, + 6.92924165725708 + ], + [ + 0.20629559457302094, + 0.0882478728890419, + 6.853164196014404 + ], + [ + 0.057690247893333435, + 0.09853186458349228, + 6.92924165725708 + ], + [ + 0.057690247893333435, + 0.09853186458349228, + 6.853164196014404 + ], + [ + 0.057690247893333435, + 0.0882478728890419, + 6.92924165725708 + ], + [ + 0.057690247893333435, + 0.0882478728890419, + 6.853164196014404 + ] + ], + "center": { + "x": 0.13199292123317719, + "y": 0.09338986873626709, + "z": 6.891202926635742 + }, + "size": { + "x": 0.1486053466796875, + "y": 0.010283991694450378, + "z": 0.07607746124267578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.20629559457302094, + 0.08824815601110458, + 6.8531646728515625 + ], + [ + 0.20629549026489258, + 0.08825014531612396, + 6.92924165725708 + ], + [ + 0.05769027769565582, + 0.08824986219406128, + 6.929241180419922 + ], + [ + 0.05769038200378418, + 0.0882478728890419, + 6.853164196014404 + ], + [ + 0.20629557967185974, + 0.0985298752784729, + 6.853164196014404 + ], + [ + 0.2062954604625702, + 0.09853186458349228, + 6.929241180419922 + ], + [ + 0.05769025534391403, + 0.09853158891201019, + 6.929241180419922 + ], + [ + 0.05769035965204239, + 0.09852959215641022, + 6.853164196014404 + ] + ] + } + } + }, + { + "objectId": "HousePlant|surface|2|0", + "object_info": { + "name": "HousePlant|surface|2|0", + "position": { + "x": 3.0519309043884277, + "y": 0.7692338824272156, + "z": 4.01427698135376 + }, + "rotation": { + "x": -3.5815548926620977e-06, + "y": 89.99991607666016, + "z": 2.7726406187866814e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 2.6423556804656982, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|2|0", + "assetId": "Houseplant_19", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2101306915283203, + 1.2965338230133057, + 4.192477226257324 + ], + [ + 3.2101306915283203, + 1.2965338230133057, + 3.8629770278930664 + ], + [ + 3.2101306915283203, + 0.7804644107818604, + 4.192477226257324 + ], + [ + 3.2101306915283203, + 0.7804644107818604, + 3.8629770278930664 + ], + [ + 2.9039306640625, + 1.2965338230133057, + 4.192477226257324 + ], + [ + 2.9039306640625, + 1.2965338230133057, + 3.8629770278930664 + ], + [ + 2.9039306640625, + 0.7804644107818604, + 4.192477226257324 + ], + [ + 2.9039306640625, + 0.7804644107818604, + 3.8629770278930664 + ] + ], + "center": { + "x": 3.05703067779541, + "y": 1.038499116897583, + "z": 4.027727127075195 + }, + "size": { + "x": 0.3062000274658203, + "y": 0.5160694718360901, + "z": 0.3295001983642578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.2101311683654785, + 0.780464231967926, + 3.8629772663116455 + ], + [ + 3.2101306915283203, + 0.7804641127586365, + 4.192477226257324 + ], + [ + 2.9039306640625, + 0.7804640531539917, + 4.192476749420166 + ], + [ + 2.903931140899658, + 0.780464231967926, + 3.8629767894744873 + ], + [ + 3.2101311683654785, + 1.2965339422225952, + 3.8629775047302246 + ], + [ + 3.2101306915283203, + 1.2965338230133057, + 4.192477703094482 + ], + [ + 2.9039306640625, + 1.2965338230133057, + 4.192477226257324 + ], + [ + 2.903931140899658, + 1.2965339422225952, + 3.8629770278930664 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 7.235468864440918, + "y": 0.004550814628601074, + "z": 5.168550968170166 + }, + "rotation": { + "x": -0.0045873550698161125, + "y": 165.78297424316406, + "z": 0.051534850150346756 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 6.2543416023254395, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.49247932434082, + 1.904921054840088, + 5.423825263977051 + ], + [ + 7.49247932434082, + 1.904921054840088, + 4.918190956115723 + ], + [ + 7.49247932434082, + -1.8715858459472656e-05, + 5.423825263977051 + ], + [ + 7.49247932434082, + -1.8715858459472656e-05, + 4.918190956115723 + ], + [ + 6.987342834472656, + 1.904921054840088, + 5.423825263977051 + ], + [ + 6.987342834472656, + 1.904921054840088, + 4.918190956115723 + ], + [ + 6.987342834472656, + -1.8715858459472656e-05, + 5.423825263977051 + ], + [ + 6.987342834472656, + -1.8715858459472656e-05, + 4.918190956115723 + ] + ], + "center": { + "x": 7.239911079406738, + "y": 0.9524511694908142, + "z": 5.171008110046387 + }, + "size": { + "x": 0.5051364898681641, + "y": 1.9049397706985474, + "z": 0.5056343078613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.087922096252441, + 0.0003027557395398617, + 4.916811943054199 + ], + [ + 7.4908905029296875, + -7.114699110388756e-05, + 5.018906116485596 + ], + [ + 7.388443470001221, + -0.00010454468429088593, + 5.4232659339904785 + ], + [ + 6.985475540161133, + 0.0002693580463528633, + 5.321171760559082 + ], + [ + 7.089545249938965, + 1.904923915863037, + 4.9173808097839355 + ], + [ + 7.492513656616211, + 1.9045499563217163, + 5.019474506378174 + ], + [ + 7.390066623687744, + 1.904516577720642, + 5.423834323883057 + ], + [ + 6.987098693847656, + 1.904890537261963, + 5.32174015045166 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|2|4", + "object_info": { + "name": "Pen|surface|2|4", + "position": { + "x": 2.433931827545166, + "y": 0.7861095070838928, + "z": 4.458131790161133 + }, + "rotation": { + "x": 0.00016297739057336003, + "y": 90.00000762939453, + "z": 0.12477099895477295 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.9660704135894775, + "objectType": "Pen", + "objectId": "Pen|surface|2|4", + "assetId": "Pen_4", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5403308868408203, + 0.7917543649673462, + 4.4637770652771 + ], + [ + 2.5403308868408203, + 0.7917543649673462, + 4.452486515045166 + ], + [ + 2.5403308868408203, + 0.7804646492004395, + 4.4637770652771 + ], + [ + 2.5403308868408203, + 0.7804646492004395, + 4.452486515045166 + ], + [ + 2.3404927253723145, + 0.7917543649673462, + 4.4637770652771 + ], + [ + 2.3404927253723145, + 0.7917543649673462, + 4.452486515045166 + ], + [ + 2.3404927253723145, + 0.7804646492004395, + 4.4637770652771 + ], + [ + 2.3404927253723145, + 0.7804646492004395, + 4.452486515045166 + ] + ], + "center": { + "x": 2.4404118061065674, + "y": 0.7861095070838928, + "z": 4.458131790161133 + }, + "size": { + "x": 0.19983816146850586, + "y": 0.011289715766906738, + "z": 0.011290550231933594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.5403308868408203, + 0.7804763913154602, + 4.452474117279053 + ], + [ + 2.5403308868408203, + 0.7804518342018127, + 4.463764667510986 + ], + [ + 2.3404927253723145, + 0.7804523706436157, + 4.4637651443481445 + ], + [ + 2.3404927253723145, + 0.780476987361908, + 4.452474117279053 + ], + [ + 2.5403308868408203, + 0.7917666435241699, + 4.452498912811279 + ], + [ + 2.5403308868408203, + 0.7917420268058777, + 4.463789463043213 + ], + [ + 2.3404929637908936, + 0.7917426228523254, + 4.463789463043213 + ], + [ + 2.3404929637908936, + 0.7917671799659729, + 4.452498912811279 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|6", + "object_info": { + "name": "Vase|surface|2|6", + "position": { + "x": 0.164486363530159, + "y": 0.4502851665019989, + "z": 7.508902072906494 + }, + "rotation": { + "x": 1.9836468254652573e-06, + "y": 0.00040212739259004593, + "z": -1.4496603171210154e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 6.376473426818848, + "objectType": "Vase", + "objectId": "Vase|surface|2|6", + "assetId": "Vase_Flat_4", + "parentReceptacles": [ + "Floor", + "TVStand|2|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.23998335003852844, + 0.5204170942306519, + 7.584649085998535 + ], + [ + 0.23998335003852844, + 0.5204170942306519, + 7.433656692504883 + ], + [ + 0.23998335003852844, + 0.45024925470352173, + 7.584649085998535 + ], + [ + 0.23998335003852844, + 0.45024925470352173, + 7.433656692504883 + ], + [ + 0.08899036049842834, + 0.5204170942306519, + 7.584649085998535 + ], + [ + 0.08899036049842834, + 0.5204170942306519, + 7.433656692504883 + ], + [ + 0.08899036049842834, + 0.45024925470352173, + 7.584649085998535 + ], + [ + 0.08899036049842834, + 0.45024925470352173, + 7.433656692504883 + ] + ], + "center": { + "x": 0.1644868552684784, + "y": 0.4853331744670868, + "z": 7.509152889251709 + }, + "size": { + "x": 0.1509929895401001, + "y": 0.07016783952713013, + "z": 0.15099239349365234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.23998388648033142, + 0.45024916529655457, + 7.584648609161377 + ], + [ + 0.08899088948965073, + 0.45024916529655457, + 7.584649562835693 + ], + [ + 0.08898983150720596, + 0.45024916529655457, + 7.433657646179199 + ], + [ + 0.23998284339904785, + 0.45024916529655457, + 7.433656692504883 + ], + [ + 0.23998390138149261, + 0.5204172730445862, + 7.584648609161377 + ], + [ + 0.08899089694023132, + 0.5204172730445862, + 7.584649562835693 + ], + [ + 0.08898983150720596, + 0.5204172730445862, + 7.433657646179199 + ], + [ + 0.23998284339904785, + 0.5204172730445862, + 7.433656692504883 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|13", + "object_info": { + "name": "Book|surface|2|13", + "position": { + "x": 0.17174452543258667, + "y": 0.08799111843109131, + "z": 7.187646389007568 + }, + "rotation": { + "x": 0.014895327389240265, + "y": -0.0012468222994357347, + "z": 0.04007522389292717 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 6.109783172607422, + "objectType": "Book", + "objectId": "Book|surface|2|13", + "assetId": "Book_19", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.28376638889312744, + 0.12871944904327393, + 7.337699890136719 + ], + [ + 0.28376638889312744, + 0.12871944904327393, + 7.037603378295898 + ], + [ + 0.28376638889312744, + 0.08814667165279388, + 7.337699890136719 + ], + [ + 0.28376638889312744, + 0.08814667165279388, + 7.037603378295898 + ], + [ + 0.056357741355895996, + 0.12871944904327393, + 7.337699890136719 + ], + [ + 0.056357741355895996, + 0.12871944904327393, + 7.037603378295898 + ], + [ + 0.056357741355895996, + 0.08814667165279388, + 7.337699890136719 + ], + [ + 0.056357741355895996, + 0.08814667165279388, + 7.037603378295898 + ] + ], + "center": { + "x": 0.17006206512451172, + "y": 0.1084330603480339, + "z": 7.187651634216309 + }, + "size": { + "x": 0.22740864753723145, + "y": 0.04057277739048004, + "z": 0.3000965118408203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2837602496147156, + 0.0882057249546051, + 7.3376898765563965 + ], + [ + 0.056385114789009094, + 0.08804668486118317, + 7.3376851081848145 + ], + [ + 0.056391648948192596, + 0.08812469989061356, + 7.03760290145874 + ], + [ + 0.28376680612564087, + 0.08828373998403549, + 7.037607669830322 + ], + [ + 0.28373196721076965, + 0.12865915894508362, + 7.337700843811035 + ], + [ + 0.056356824934482574, + 0.12850013375282288, + 7.337695598602295 + ], + [ + 0.05636335164308548, + 0.12857814133167267, + 7.037613391876221 + ], + [ + 0.28373849391937256, + 0.1287371814250946, + 7.037618160247803 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|2|8", + "object_info": { + "name": "Bowl|surface|2|8", + "position": { + "x": 2.2460758686065674, + "y": 0.44491952657699585, + "z": 4.2201714515686035 + }, + "rotation": { + "x": 359.7945556640625, + "y": 103.88968658447266, + "z": 0.01526615209877491 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.758143901824951, + "objectType": "Bowl", + "objectId": "Bowl|surface|2|8", + "assetId": "Bowl_14", + "parentReceptacles": [ + "Chair|2|1|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.389525890350342, + 0.5525811910629272, + 4.3614654541015625 + ], + [ + 2.389525890350342, + 0.5525811910629272, + 4.078487396240234 + ], + [ + 2.389525890350342, + 0.44512689113616943, + 4.3614654541015625 + ], + [ + 2.389525890350342, + 0.44512689113616943, + 4.078487396240234 + ], + [ + 2.105621814727783, + 0.5525811910629272, + 4.3614654541015625 + ], + [ + 2.105621814727783, + 0.5525811910629272, + 4.078487396240234 + ], + [ + 2.105621814727783, + 0.44512689113616943, + 4.3614654541015625 + ], + [ + 2.105621814727783, + 0.44512689113616943, + 4.078487396240234 + ] + ], + "center": { + "x": 2.2475738525390625, + "y": 0.49885404109954834, + "z": 4.219976425170898 + }, + "size": { + "x": 0.2839040756225586, + "y": 0.10745429992675781, + "z": 0.2829780578613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.3390347957611084, + 0.44538789987564087, + 4.07559871673584 + ], + [ + 2.3962223529815674, + 0.4453244209289551, + 4.30686092376709 + ], + [ + 2.157318592071533, + 0.4444419741630554, + 4.36593770980835 + ], + [ + 2.100131034851074, + 0.4445054531097412, + 4.134675979614258 + ], + [ + 2.3386683464050293, + 0.552635669708252, + 4.075718879699707 + ], + [ + 2.3958559036254883, + 0.5525721907615662, + 4.306980609893799 + ], + [ + 2.156952142715454, + 0.5516897439956665, + 4.366057872772217 + ], + [ + 2.099764585494995, + 0.5517532229423523, + 4.134795665740967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|2|3|0", + "FloorLamp|2|4|1", + "FloorLamp|2|3|1" + ], + "different_object": [ + "Book|surface|2|13", + "Television|2|0|1", + "RemoteControl|surface|2|2", + "Vase|surface|2|6", + "Painting|2|5", + "TVStand|2|0|0___1", + "Laptop|surface|2|15", + "Bowl|surface|2|8", + "TVStand|2|0|0", + "Plate|surface|2|11", + "DeskLamp|surface|2|7", + "TVStand|2|0|0___0", + "Pen|surface|2|4", + "Chair|2|1|2", + "HousePlant|surface|2|0", + "DiningTable|2|1|0", + "Pen|surface|2|9", + "Candle|surface|2|14", + "CellPhone|surface|2|3", + "CreditCard|surface|2|10", + "Chair|2|1|1" + ] +} \ No newline at end of file diff --git a/train/train505/1/0_depth_npy.npy b/train/train505/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..54f85193c0023309098b46508d8f4e8a29019cea --- /dev/null +++ b/train/train505/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ace42608cdcaf3d280f68cdd24c2b7e9573a073e52b0c9d9ce9c4adedd85f23c +size 3145856 diff --git a/train/train505/1/0_semantic_sensor_npy.npy b/train/train505/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..85ed320711801f7cc4610a4ccc02455f55abf2e0 --- /dev/null +++ b/train/train505/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9b1ae414eef3ddd09f01f82da471a37b97fd60bd53f6b9d9160c071406e494a +size 2359424 diff --git a/train/train505/1/1.json b/train/train505/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..33d0c14c95b85be1724e0649fce394c690e11dff --- /dev/null +++ b/train/train505/1/1.json @@ -0,0 +1,1194 @@ +{ + "object": [ + { + "objectId": "FloorLamp|2|3|1", + "object_info": { + "name": "FloorLamp|2|3|1", + "position": { + "x": 6.033313274383545, + "y": 0.004549860954284668, + "z": 7.231386184692383 + }, + "rotation": { + "x": -0.004860995337367058, + "y": 326.33941650390625, + "z": 0.051482073962688446 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 6.925739765167236, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|3|1", + "assetId": "Floor_Lamp_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.3174238204956055, + 1.904921293258667, + 7.515944480895996 + ], + [ + 6.3174238204956055, + 1.904921293258667, + 6.939213752746582 + ], + [ + 6.3174238204956055, + -2.0205974578857422e-05, + 7.515944480895996 + ], + [ + 6.3174238204956055, + -2.0205974578857422e-05, + 6.939213752746582 + ], + [ + 5.741339683532715, + 1.904921293258667, + 7.515944480895996 + ], + [ + 5.741339683532715, + 1.904921293258667, + 6.939213752746582 + ], + [ + 5.741339683532715, + -2.0205974578857422e-05, + 7.515944480895996 + ], + [ + 5.741339683532715, + -2.0205974578857422e-05, + 6.939213752746582 + ] + ], + "center": { + "x": 6.02938175201416, + "y": 0.9524505734443665, + "z": 7.227579116821289 + }, + "size": { + "x": 0.5760841369628906, + "y": 1.9049415588378906, + "z": 0.5767307281494141 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.088647365570068, + 0.0003026057966053486, + 7.51788330078125 + ], + [ + 5.742645263671875, + -7.091416046023369e-05, + 7.287472724914551 + ], + [ + 5.973851680755615, + -0.00010630395263433456, + 6.9402756690979 + ], + [ + 6.319853782653809, + 0.0002672160044312477, + 7.170686721801758 + ], + [ + 6.0873122215271, + 1.904923677444458, + 7.516800403594971 + ], + [ + 5.741310119628906, + 1.9045501947402954, + 7.286389350891113 + ], + [ + 5.9725165367126465, + 1.9045149087905884, + 6.939192771911621 + ], + [ + 6.31851863861084, + 1.904888391494751, + 7.1696038246154785 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 7.688704490661621, + "y": -0.0022848844528198242, + "z": 1.4686074256896973 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.513294219970703, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.769211769104004, + 2.0939149856567383, + 1.4711768627166748 + ], + [ + 7.769211769104004, + 2.0939149856567383, + 0.433638334274292 + ], + [ + 7.769211769104004, + -0.002017974853515625, + 1.4711768627166748 + ], + [ + 7.769211769104004, + -0.002017974853515625, + 0.433638334274292 + ], + [ + 7.60878849029541, + 2.0939149856567383, + 1.4711768627166748 + ], + [ + 7.60878849029541, + 2.0939149856567383, + 0.433638334274292 + ], + [ + 7.60878849029541, + -0.002017974853515625, + 1.4711768627166748 + ], + [ + 7.60878849029541, + -0.002017974853515625, + 0.433638334274292 + ] + ], + "center": { + "x": 7.689000129699707, + "y": 1.0459485054016113, + "z": 0.9524075984954834 + }, + "size": { + "x": 0.16042327880859375, + "y": 2.095932960510254, + "z": 1.0375385284423828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|2|2", + "object_info": { + "name": "Sofa|2|2", + "position": { + "x": 5.868525505065918, + "y": -0.005003571510314941, + "z": 0.5277701020240784 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|12" + ], + "distance": 3.8548409938812256, + "objectType": "Sofa", + "objectId": "Sofa|2|2", + "assetId": "Sofa_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.166016578674316, + 1.150761365890503, + 1.0026862621307373 + ], + [ + 7.166016578674316, + 1.150761365890503, + 0.025001049041748047 + ], + [ + 7.166016578674316, + 0.0, + 1.0026862621307373 + ], + [ + 7.166016578674316, + 0.0, + 0.025001049041748047 + ], + [ + 4.580413818359375, + 1.150761365890503, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 1.150761365890503, + 0.025001049041748047 + ], + [ + 4.580413818359375, + 0.0, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 0.0, + 0.025001049041748047 + ] + ], + "center": { + "x": 5.873215198516846, + "y": 0.5753806829452515, + "z": 0.5138436555862427 + }, + "size": { + "x": 2.5856027603149414, + "y": 1.150761365890503, + "z": 0.9776852130889893 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.166016578674316, + 0.0, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 0.0, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 0.0, + 0.025001108646392822 + ], + [ + 7.166016578674316, + 0.0, + 0.025001108646392822 + ], + [ + 7.166016578674316, + 1.1507614850997925, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 1.1507614850997925, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 1.1507614850997925, + 0.025001108646392822 + ], + [ + 7.166016578674316, + 1.1507614850997925, + 0.025001108646392822 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 7.0871500968933105, + "y": 0.0025141239166259766, + "z": 7.218180179595947 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 7.543399810791016, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_205_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.663996696472168, + 0.8599715232849121, + 7.664050579071045 + ], + [ + 7.663996696472168, + 0.8599715232849121, + 6.794226169586182 + ], + [ + 7.663996696472168, + -1.7583370208740234e-05, + 7.664050579071045 + ], + [ + 7.663996696472168, + -1.7583370208740234e-05, + 6.794226169586182 + ], + [ + 6.509860038757324, + 0.8599715232849121, + 7.664050579071045 + ], + [ + 6.509860038757324, + 0.8599715232849121, + 6.794226169586182 + ], + [ + 6.509860038757324, + -1.7583370208740234e-05, + 7.664050579071045 + ], + [ + 6.509860038757324, + -1.7583370208740234e-05, + 6.794226169586182 + ] + ], + "center": { + "x": 7.086928367614746, + "y": 0.4299769699573517, + "z": 7.229138374328613 + }, + "size": { + "x": 1.1541366577148438, + "y": 0.8599891066551208, + "z": 0.8698244094848633 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.509859561920166, + -1.7404556274414062e-05, + 6.79422664642334 + ], + [ + 7.66399621963501, + -1.7404556274414062e-05, + 6.79422664642334 + ], + [ + 7.663996696472168, + -1.7404556274414062e-05, + 7.664050579071045 + ], + [ + 6.509860038757324, + -1.7404556274414062e-05, + 7.664051055908203 + ], + [ + 6.509859561920166, + 0.8599713444709778, + 6.79422664642334 + ], + [ + 7.66399621963501, + 0.8599713444709778, + 6.79422664642334 + ], + [ + 7.663996696472168, + 0.8599713444709778, + 7.664050579071045 + ], + [ + 6.509860038757324, + 0.8599713444709778, + 7.664051055908203 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 7.253239631652832, + "y": -5.155801773071289e-06, + "z": 4.238999843597412 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 5.774628639221191, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "RoboTHOR_armchair_ektorp", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.664008140563965, + 0.8387733101844788, + 4.726808547973633 + ], + [ + 7.664008140563965, + 0.8387733101844788, + 3.7557077407836914 + ], + [ + 7.664008140563965, + -5.304813385009766e-06, + 4.726808547973633 + ], + [ + 7.664008140563965, + -5.304813385009766e-06, + 3.7557077407836914 + ], + [ + 6.812361717224121, + 0.8387733101844788, + 4.726808547973633 + ], + [ + 6.812361717224121, + 0.8387733101844788, + 3.7557077407836914 + ], + [ + 6.812361717224121, + -5.304813385009766e-06, + 4.726808547973633 + ], + [ + 6.812361717224121, + -5.304813385009766e-06, + 3.7557077407836914 + ] + ], + "center": { + "x": 7.238184928894043, + "y": 0.4193840026855469, + "z": 4.241258144378662 + }, + "size": { + "x": 0.8516464233398438, + "y": 0.8387786149978638, + "z": 0.9711008071899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.812361240386963, + -5.155801773071289e-06, + 4.726808547973633 + ], + [ + 6.812361717224121, + -5.155801773071289e-06, + 3.7557079792022705 + ], + [ + 7.664007186889648, + -5.155801773071289e-06, + 3.7557082176208496 + ], + [ + 7.664007186889648, + -5.155801773071289e-06, + 4.726809024810791 + ], + [ + 6.812361240386963, + 0.8387726545333862, + 4.726808547973633 + ], + [ + 6.812361717224121, + 0.8387726545333862, + 3.7557079792022705 + ], + [ + 7.664007186889648, + 0.8387726545333862, + 3.7557082176208496 + ], + [ + 7.664007186889648, + 0.8387726545333862, + 4.726809024810791 + ] + ] + } + } + }, + { + "objectId": "Painting|2|6", + "object_info": { + "name": "Painting|2|6", + "position": { + "x": 7.403139591217041, + "y": 1.2575994729995728, + "z": 0.006129627116024494 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.377142429351807, + "objectType": "Painting", + "objectId": "Painting|2|6", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.632684230804443, + 1.562003254890442, + 0.024149447679519653 + ], + [ + 7.632684230804443, + 1.562003254890442, + 0.004999998956918716 + ], + [ + 7.632684230804443, + 0.9541014432907104, + 0.024149447679519653 + ], + [ + 7.632684230804443, + 0.9541014432907104, + 0.004999998956918716 + ], + [ + 7.174881458282471, + 1.562003254890442, + 0.024149447679519653 + ], + [ + 7.174881458282471, + 1.562003254890442, + 0.004999998956918716 + ], + [ + 7.174881458282471, + 0.9541014432907104, + 0.024149447679519653 + ], + [ + 7.174881458282471, + 0.9541014432907104, + 0.004999998956918716 + ] + ], + "center": { + "x": 7.403782844543457, + "y": 1.2580523490905762, + "z": 0.014574723318219185 + }, + "size": { + "x": 0.45780277252197266, + "y": 0.6079018115997314, + "z": 0.019149448722600937 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 7.235468864440918, + "y": 0.004550814628601074, + "z": 5.168550968170166 + }, + "rotation": { + "x": -0.0045873550698161125, + "y": 165.78297424316406, + "z": 0.051534850150346756 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 6.2543416023254395, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.49247932434082, + 1.904921054840088, + 5.423825263977051 + ], + [ + 7.49247932434082, + 1.904921054840088, + 4.918190956115723 + ], + [ + 7.49247932434082, + -1.8715858459472656e-05, + 5.423825263977051 + ], + [ + 7.49247932434082, + -1.8715858459472656e-05, + 4.918190956115723 + ], + [ + 6.987342834472656, + 1.904921054840088, + 5.423825263977051 + ], + [ + 6.987342834472656, + 1.904921054840088, + 4.918190956115723 + ], + [ + 6.987342834472656, + -1.8715858459472656e-05, + 5.423825263977051 + ], + [ + 6.987342834472656, + -1.8715858459472656e-05, + 4.918190956115723 + ] + ], + "center": { + "x": 7.239911079406738, + "y": 0.9524511694908142, + "z": 5.171008110046387 + }, + "size": { + "x": 0.5051364898681641, + "y": 1.9049397706985474, + "z": 0.5056343078613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.087922096252441, + 0.0003027557395398617, + 4.916811943054199 + ], + [ + 7.4908905029296875, + -7.114699110388756e-05, + 5.018906116485596 + ], + [ + 7.388443470001221, + -0.00010454468429088593, + 5.4232659339904785 + ], + [ + 6.985475540161133, + 0.0002693580463528633, + 5.321171760559082 + ], + [ + 7.089545249938965, + 1.904923915863037, + 4.9173808097839355 + ], + [ + 7.492513656616211, + 1.9045499563217163, + 5.019474506378174 + ], + [ + 7.390066623687744, + 1.904516577720642, + 5.423834323883057 + ], + [ + 6.987098693847656, + 1.904890537261963, + 5.32174015045166 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|2|12", + "object_info": { + "name": "Pillow|surface|2|12", + "position": { + "x": 5.073535919189453, + "y": 0.6174668073654175, + "z": 0.7263818979263306 + }, + "rotation": { + "x": 1.7747902347764466e-06, + "y": -1.8170750308854622e-06, + "z": -8.738946917219437e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.9412975311279297, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|12", + "assetId": "pillow_19", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.286564826965332, + 0.6867790222167969, + 0.8846950531005859 + ], + [ + 5.286564826965332, + 0.6867790222167969, + 0.5680687427520752 + ], + [ + 5.286564826965332, + 0.5481545925140381, + 0.8846950531005859 + ], + [ + 5.286564826965332, + 0.5481545925140381, + 0.5680687427520752 + ], + [ + 4.860507011413574, + 0.6867790222167969, + 0.8846950531005859 + ], + [ + 4.860507011413574, + 0.6867790222167969, + 0.5680687427520752 + ], + [ + 4.860507011413574, + 0.5481545925140381, + 0.8846950531005859 + ], + [ + 4.860507011413574, + 0.5481545925140381, + 0.5680687427520752 + ] + ], + "center": { + "x": 5.073535919189453, + "y": 0.6174668073654175, + "z": 0.7263818979263306 + }, + "size": { + "x": 0.4260578155517578, + "y": 0.1386244297027588, + "z": 0.31662631034851074 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.28656530380249, + 0.5481545925140381, + 0.8846949338912964 + ], + [ + 4.860506534576416, + 0.5481545925140381, + 0.8846949338912964 + ], + [ + 4.860506534576416, + 0.5481545925140381, + 0.5680688619613647 + ], + [ + 5.28656530380249, + 0.5481545925140381, + 0.5680688619613647 + ], + [ + 5.28656530380249, + 0.6867790222167969, + 0.8846949338912964 + ], + [ + 4.860506534576416, + 0.6867790222167969, + 0.8846949338912964 + ], + [ + 4.860506534576416, + 0.6867790222167969, + 0.5680688619613647 + ], + [ + 5.28656530380249, + 0.6867790222167969, + 0.5680688619613647 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 1.2000000476837158 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "agent_cameraHorizon": 1.5309449281630805e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 1.2000000476837158 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|2|3|0", + "FloorLamp|2|4|1", + "FloorLamp|2|3|1" + ], + "different_object": [ + "door|1|2", + "Painting|2|6", + "Pillow|surface|2|12", + "Sofa|2|2", + "ArmChair|2|4|0" + ] +} \ No newline at end of file diff --git a/train/train505/1/1_depth_npy.npy b/train/train505/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..93bfde5b412db21c307dced7bbeddda0af1ce807 --- /dev/null +++ b/train/train505/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a44529fb7eae4925b8d4a672b7059dfdf59b87da06691cf616122827602c553 +size 3145856 diff --git a/train/train505/1/1_semantic_sensor_npy.npy b/train/train505/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..55ffea046588d882244075085a4b470ff7e15242 --- /dev/null +++ b/train/train505/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cbea2ea6c04596ff77d917bbe2ad88fa6543af6680ae77207d283191cb00aa0 +size 2359424 diff --git a/train/train505/1/depth_0.png b/train/train505/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..58cc25fd2f2e62357c09176594e21d4adb762551 Binary files /dev/null and b/train/train505/1/depth_0.png differ diff --git a/train/train505/1/depth_1.png b/train/train505/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..197c0f370d7b5903178b09c8cdc9a3dcc441384d Binary files /dev/null and b/train/train505/1/depth_1.png differ diff --git a/train/train505/1/mask_questions.jsonl b/train/train505/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train505/1/rgb_0.png b/train/train505/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9943d2ba8049f41f139c1a1605fd18aac15391e9 --- /dev/null +++ b/train/train505/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:635564210063a4e78797a58dad11d393b0161ca8b7227ca342a43badd1b27f68 +size 499935 diff --git a/train/train505/1/rgb_1.png b/train/train505/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..09d8976f1372dac6f32c9b1882b2fb8af84b8884 --- /dev/null +++ b/train/train505/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a40de6289d51003e35ae14ace2d719dc94442b69422d98fa76d9045efa2aaf7 +size 352597 diff --git a/train/train505/1/semantic_0.png b/train/train505/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..74f3baa2fe774094d626a0aeaed4c6057b24b390 Binary files /dev/null and b/train/train505/1/semantic_0.png differ diff --git a/train/train505/1/semantic_1.png b/train/train505/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1d0ab3132a8846396e299378507c0780ecad214a Binary files /dev/null and b/train/train505/1/semantic_1.png differ diff --git a/train/train505/2/0.json b/train/train505/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..20deacad6b6edd82174a2febe986dd3a832bbc6d --- /dev/null +++ b/train/train505/2/0.json @@ -0,0 +1,1038 @@ +{ + "object": [ + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 7.688704490661621, + "y": -0.0022848844528198242, + "z": 1.4686074256896973 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.513294219970703, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.769211769104004, + 2.0939149856567383, + 1.4711768627166748 + ], + [ + 7.769211769104004, + 2.0939149856567383, + 0.433638334274292 + ], + [ + 7.769211769104004, + -0.002017974853515625, + 1.4711768627166748 + ], + [ + 7.769211769104004, + -0.002017974853515625, + 0.433638334274292 + ], + [ + 7.60878849029541, + 2.0939149856567383, + 1.4711768627166748 + ], + [ + 7.60878849029541, + 2.0939149856567383, + 0.433638334274292 + ], + [ + 7.60878849029541, + -0.002017974853515625, + 1.4711768627166748 + ], + [ + 7.60878849029541, + -0.002017974853515625, + 0.433638334274292 + ] + ], + "center": { + "x": 7.689000129699707, + "y": 1.0459485054016113, + "z": 0.9524075984954834 + }, + "size": { + "x": 0.16042327880859375, + "y": 2.095932960510254, + "z": 1.0375385284423828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|2|2", + "object_info": { + "name": "Sofa|2|2", + "position": { + "x": 5.868525505065918, + "y": -0.005003571510314941, + "z": 0.5277701020240784 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|12" + ], + "distance": 3.8548409938812256, + "objectType": "Sofa", + "objectId": "Sofa|2|2", + "assetId": "Sofa_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.166016578674316, + 1.150761365890503, + 1.0026862621307373 + ], + [ + 7.166016578674316, + 1.150761365890503, + 0.025001049041748047 + ], + [ + 7.166016578674316, + 0.0, + 1.0026862621307373 + ], + [ + 7.166016578674316, + 0.0, + 0.025001049041748047 + ], + [ + 4.580413818359375, + 1.150761365890503, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 1.150761365890503, + 0.025001049041748047 + ], + [ + 4.580413818359375, + 0.0, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 0.0, + 0.025001049041748047 + ] + ], + "center": { + "x": 5.873215198516846, + "y": 0.5753806829452515, + "z": 0.5138436555862427 + }, + "size": { + "x": 2.5856027603149414, + "y": 1.150761365890503, + "z": 0.9776852130889893 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.166016578674316, + 0.0, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 0.0, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 0.0, + 0.025001108646392822 + ], + [ + 7.166016578674316, + 0.0, + 0.025001108646392822 + ], + [ + 7.166016578674316, + 1.1507614850997925, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 1.1507614850997925, + 1.0026862621307373 + ], + [ + 4.580413818359375, + 1.1507614850997925, + 0.025001108646392822 + ], + [ + 7.166016578674316, + 1.1507614850997925, + 0.025001108646392822 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 7.0871500968933105, + "y": 0.0025141239166259766, + "z": 7.218180179595947 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 7.543399810791016, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_205_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.663996696472168, + 0.8599715232849121, + 7.664050579071045 + ], + [ + 7.663996696472168, + 0.8599715232849121, + 6.794226169586182 + ], + [ + 7.663996696472168, + -1.7583370208740234e-05, + 7.664050579071045 + ], + [ + 7.663996696472168, + -1.7583370208740234e-05, + 6.794226169586182 + ], + [ + 6.509860038757324, + 0.8599715232849121, + 7.664050579071045 + ], + [ + 6.509860038757324, + 0.8599715232849121, + 6.794226169586182 + ], + [ + 6.509860038757324, + -1.7583370208740234e-05, + 7.664050579071045 + ], + [ + 6.509860038757324, + -1.7583370208740234e-05, + 6.794226169586182 + ] + ], + "center": { + "x": 7.086928367614746, + "y": 0.4299769699573517, + "z": 7.229138374328613 + }, + "size": { + "x": 1.1541366577148438, + "y": 0.8599891066551208, + "z": 0.8698244094848633 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.509859561920166, + -1.7404556274414062e-05, + 6.79422664642334 + ], + [ + 7.66399621963501, + -1.7404556274414062e-05, + 6.79422664642334 + ], + [ + 7.663996696472168, + -1.7404556274414062e-05, + 7.664050579071045 + ], + [ + 6.509860038757324, + -1.7404556274414062e-05, + 7.664051055908203 + ], + [ + 6.509859561920166, + 0.8599713444709778, + 6.79422664642334 + ], + [ + 7.66399621963501, + 0.8599713444709778, + 6.79422664642334 + ], + [ + 7.663996696472168, + 0.8599713444709778, + 7.664050579071045 + ], + [ + 6.509860038757324, + 0.8599713444709778, + 7.664051055908203 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 7.253239631652832, + "y": -5.155801773071289e-06, + "z": 4.238999843597412 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 5.774628639221191, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "RoboTHOR_armchair_ektorp", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.664008140563965, + 0.8387733101844788, + 4.726808547973633 + ], + [ + 7.664008140563965, + 0.8387733101844788, + 3.7557077407836914 + ], + [ + 7.664008140563965, + -5.304813385009766e-06, + 4.726808547973633 + ], + [ + 7.664008140563965, + -5.304813385009766e-06, + 3.7557077407836914 + ], + [ + 6.812361717224121, + 0.8387733101844788, + 4.726808547973633 + ], + [ + 6.812361717224121, + 0.8387733101844788, + 3.7557077407836914 + ], + [ + 6.812361717224121, + -5.304813385009766e-06, + 4.726808547973633 + ], + [ + 6.812361717224121, + -5.304813385009766e-06, + 3.7557077407836914 + ] + ], + "center": { + "x": 7.238184928894043, + "y": 0.4193840026855469, + "z": 4.241258144378662 + }, + "size": { + "x": 0.8516464233398438, + "y": 0.8387786149978638, + "z": 0.9711008071899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.812361240386963, + -5.155801773071289e-06, + 4.726808547973633 + ], + [ + 6.812361717224121, + -5.155801773071289e-06, + 3.7557079792022705 + ], + [ + 7.664007186889648, + -5.155801773071289e-06, + 3.7557082176208496 + ], + [ + 7.664007186889648, + -5.155801773071289e-06, + 4.726809024810791 + ], + [ + 6.812361240386963, + 0.8387726545333862, + 4.726808547973633 + ], + [ + 6.812361717224121, + 0.8387726545333862, + 3.7557079792022705 + ], + [ + 7.664007186889648, + 0.8387726545333862, + 3.7557082176208496 + ], + [ + 7.664007186889648, + 0.8387726545333862, + 4.726809024810791 + ] + ] + } + } + }, + { + "objectId": "Painting|2|6", + "object_info": { + "name": "Painting|2|6", + "position": { + "x": 7.403139591217041, + "y": 1.2575994729995728, + "z": 0.006129627116024494 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.377142429351807, + "objectType": "Painting", + "objectId": "Painting|2|6", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.632684230804443, + 1.562003254890442, + 0.024149447679519653 + ], + [ + 7.632684230804443, + 1.562003254890442, + 0.004999998956918716 + ], + [ + 7.632684230804443, + 0.9541014432907104, + 0.024149447679519653 + ], + [ + 7.632684230804443, + 0.9541014432907104, + 0.004999998956918716 + ], + [ + 7.174881458282471, + 1.562003254890442, + 0.024149447679519653 + ], + [ + 7.174881458282471, + 1.562003254890442, + 0.004999998956918716 + ], + [ + 7.174881458282471, + 0.9541014432907104, + 0.024149447679519653 + ], + [ + 7.174881458282471, + 0.9541014432907104, + 0.004999998956918716 + ] + ], + "center": { + "x": 7.403782844543457, + "y": 1.2580523490905762, + "z": 0.014574723318219185 + }, + "size": { + "x": 0.45780277252197266, + "y": 0.6079018115997314, + "z": 0.019149448722600937 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 7.235468864440918, + "y": 0.004550814628601074, + "z": 5.168550968170166 + }, + "rotation": { + "x": -0.0045873550698161125, + "y": 165.78297424316406, + "z": 0.051534850150346756 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 6.2543416023254395, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.49247932434082, + 1.904921054840088, + 5.423825263977051 + ], + [ + 7.49247932434082, + 1.904921054840088, + 4.918190956115723 + ], + [ + 7.49247932434082, + -1.8715858459472656e-05, + 5.423825263977051 + ], + [ + 7.49247932434082, + -1.8715858459472656e-05, + 4.918190956115723 + ], + [ + 6.987342834472656, + 1.904921054840088, + 5.423825263977051 + ], + [ + 6.987342834472656, + 1.904921054840088, + 4.918190956115723 + ], + [ + 6.987342834472656, + -1.8715858459472656e-05, + 5.423825263977051 + ], + [ + 6.987342834472656, + -1.8715858459472656e-05, + 4.918190956115723 + ] + ], + "center": { + "x": 7.239911079406738, + "y": 0.9524511694908142, + "z": 5.171008110046387 + }, + "size": { + "x": 0.5051364898681641, + "y": 1.9049397706985474, + "z": 0.5056343078613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.087922096252441, + 0.0003027557395398617, + 4.916811943054199 + ], + [ + 7.4908905029296875, + -7.114699110388756e-05, + 5.018906116485596 + ], + [ + 7.388443470001221, + -0.00010454468429088593, + 5.4232659339904785 + ], + [ + 6.985475540161133, + 0.0002693580463528633, + 5.321171760559082 + ], + [ + 7.089545249938965, + 1.904923915863037, + 4.9173808097839355 + ], + [ + 7.492513656616211, + 1.9045499563217163, + 5.019474506378174 + ], + [ + 7.390066623687744, + 1.904516577720642, + 5.423834323883057 + ], + [ + 6.987098693847656, + 1.904890537261963, + 5.32174015045166 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|2|12", + "object_info": { + "name": "Pillow|surface|2|12", + "position": { + "x": 5.073535919189453, + "y": 0.6174668073654175, + "z": 0.7263818979263306 + }, + "rotation": { + "x": 1.7747902347764466e-06, + "y": -1.8170750308854622e-06, + "z": -8.738946917219437e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.9412975311279297, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|12", + "assetId": "pillow_19", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.286564826965332, + 0.6867790222167969, + 0.8846950531005859 + ], + [ + 5.286564826965332, + 0.6867790222167969, + 0.5680687427520752 + ], + [ + 5.286564826965332, + 0.5481545925140381, + 0.8846950531005859 + ], + [ + 5.286564826965332, + 0.5481545925140381, + 0.5680687427520752 + ], + [ + 4.860507011413574, + 0.6867790222167969, + 0.8846950531005859 + ], + [ + 4.860507011413574, + 0.6867790222167969, + 0.5680687427520752 + ], + [ + 4.860507011413574, + 0.5481545925140381, + 0.8846950531005859 + ], + [ + 4.860507011413574, + 0.5481545925140381, + 0.5680687427520752 + ] + ], + "center": { + "x": 5.073535919189453, + "y": 0.6174668073654175, + "z": 0.7263818979263306 + }, + "size": { + "x": 0.4260578155517578, + "y": 0.1386244297027588, + "z": 0.31662631034851074 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.28656530380249, + 0.5481545925140381, + 0.8846949338912964 + ], + [ + 4.860506534576416, + 0.5481545925140381, + 0.8846949338912964 + ], + [ + 4.860506534576416, + 0.5481545925140381, + 0.5680688619613647 + ], + [ + 5.28656530380249, + 0.5481545925140381, + 0.5680688619613647 + ], + [ + 5.28656530380249, + 0.6867790222167969, + 0.8846949338912964 + ], + [ + 4.860506534576416, + 0.6867790222167969, + 0.8846949338912964 + ], + [ + 4.860506534576416, + 0.6867790222167969, + 0.5680688619613647 + ], + [ + 5.28656530380249, + 0.6867790222167969, + 0.5680688619613647 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.0999999046325684, + "y": 0.9009997844696045, + "z": 0.800000011920929 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309449281630805e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.0999999046325684, + "y": 1.5759997367858887, + "z": 0.800000011920929 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|2|3|0", + "FloorLamp|2|4|1", + "ArmChair|2|4|0" + ], + "different_object": [ + "door|1|2", + "Sofa|2|2", + "Painting|2|6", + "Pillow|surface|2|12" + ] +} \ No newline at end of file diff --git a/train/train505/2/0_depth_npy.npy b/train/train505/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3061451cb8ec585ef70771893394caae966c233a --- /dev/null +++ b/train/train505/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fada2623b5d4c1c245bcc36f00ab99dc98355e49c6b00aed279d0b072c8dc04d +size 3145856 diff --git a/train/train505/2/0_semantic_sensor_npy.npy b/train/train505/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d7bfa89e9c3976560e44adf402ccb509ab5f061e --- /dev/null +++ b/train/train505/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee387e752b99be317e5adf0f83d04841206ec3f7efe99b5477604761cedc6fd9 +size 2359424 diff --git a/train/train505/2/1.json b/train/train505/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..be3d314cec9bca69d09e8725ea9a2de38e3566e6 --- /dev/null +++ b/train/train505/2/1.json @@ -0,0 +1,3682 @@ +{ + "object": [ + { + "objectId": "FloorLamp|2|3|1", + "object_info": { + "name": "FloorLamp|2|3|1", + "position": { + "x": 6.033313274383545, + "y": 0.004549860954284668, + "z": 7.231386184692383 + }, + "rotation": { + "x": -0.004860995337367058, + "y": 326.33941650390625, + "z": 0.051482073962688446 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 6.925739765167236, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|3|1", + "assetId": "Floor_Lamp_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.3174238204956055, + 1.904921293258667, + 7.515944480895996 + ], + [ + 6.3174238204956055, + 1.904921293258667, + 6.939213752746582 + ], + [ + 6.3174238204956055, + -2.0205974578857422e-05, + 7.515944480895996 + ], + [ + 6.3174238204956055, + -2.0205974578857422e-05, + 6.939213752746582 + ], + [ + 5.741339683532715, + 1.904921293258667, + 7.515944480895996 + ], + [ + 5.741339683532715, + 1.904921293258667, + 6.939213752746582 + ], + [ + 5.741339683532715, + -2.0205974578857422e-05, + 7.515944480895996 + ], + [ + 5.741339683532715, + -2.0205974578857422e-05, + 6.939213752746582 + ] + ], + "center": { + "x": 6.02938175201416, + "y": 0.9524505734443665, + "z": 7.227579116821289 + }, + "size": { + "x": 0.5760841369628906, + "y": 1.9049415588378906, + "z": 0.5767307281494141 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.088647365570068, + 0.0003026057966053486, + 7.51788330078125 + ], + [ + 5.742645263671875, + -7.091416046023369e-05, + 7.287472724914551 + ], + [ + 5.973851680755615, + -0.00010630395263433456, + 6.9402756690979 + ], + [ + 6.319853782653809, + 0.0002672160044312477, + 7.170686721801758 + ], + [ + 6.0873122215271, + 1.904923677444458, + 7.516800403594971 + ], + [ + 5.741310119628906, + 1.9045501947402954, + 7.286389350891113 + ], + [ + 5.9725165367126465, + 1.9045149087905884, + 6.939192771911621 + ], + [ + 6.31851863861084, + 1.904888391494751, + 7.1696038246154785 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|1", + "object_info": { + "name": "Chair|2|1|1", + "position": { + "x": 3.40079402923584, + "y": 0.013664305210113525, + "z": 4.242816925048828 + }, + "rotation": { + "x": 0.0, + "y": 260.7631530761719, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.103986978530884, + "objectType": "Chair", + "objectId": "Chair|2|1|1", + "assetId": "Chair_311_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.739656448364258, + 0.8401098847389221, + 4.515664100646973 + ], + [ + 3.739656448364258, + 0.8401098847389221, + 3.949650764465332 + ], + [ + 3.739656448364258, + -3.0219554901123047e-05, + 4.515664100646973 + ], + [ + 3.739656448364258, + -3.0219554901123047e-05, + 3.949650764465332 + ], + [ + 3.0542030334472656, + 0.8401098847389221, + 4.515664100646973 + ], + [ + 3.0542030334472656, + 0.8401098847389221, + 3.949650764465332 + ], + [ + 3.0542030334472656, + -3.0219554901123047e-05, + 4.515664100646973 + ], + [ + 3.0542030334472656, + -3.0219554901123047e-05, + 3.949650764465332 + ] + ], + "center": { + "x": 3.3969297409057617, + "y": 0.4200398325920105, + "z": 4.232657432556152 + }, + "size": { + "x": 0.6854534149169922, + "y": 0.8401401042938232, + "z": 0.5660133361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0523431301116943, + -2.995133399963379e-05, + 4.427985191345215 + ], + [ + 3.1309564113616943, + -2.995133399963379e-05, + 3.944582462310791 + ], + [ + 3.7449285984039307, + -2.995133399963379e-05, + 4.044429779052734 + ], + [ + 3.6663155555725098, + -2.995133399963379e-05, + 4.527832508087158 + ], + [ + 3.0523431301116943, + 0.840109646320343, + 4.427985191345215 + ], + [ + 3.1309564113616943, + 0.840109646320343, + 3.944582462310791 + ], + [ + 3.7449285984039307, + 0.840109646320343, + 4.044429779052734 + ], + [ + 3.6663155555725098, + 0.840109646320343, + 4.527832508087158 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.045083522796631 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Vase|surface|2|6", + "Television|2|0|1", + "KeyChain|surface|2|1", + "Pencil|surface|2|5" + ], + "distance": 5.97608757019043, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 7.663999557495117 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.42619514465332 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 7.663999557495117 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.42619514465332 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 7.663999557495117 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.42619514465332 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 7.663999557495117 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.42619514465332 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.045097351074219 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.42619514465332 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 7.663999557495117 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 7.663999557495117 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.42619514465332 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.42619514465332 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 7.663999557495117 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 7.663999557495117 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.42619514465332 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.28324347734451294, + "y": 0.9386330842971802, + "z": 7.045097351074219 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.883677005767822, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3870675563812256, + 1.2561266422271729, + 7.545097351074219 + ], + [ + 0.3870675563812256, + 1.2561266422271729, + 6.545097351074219 + ], + [ + 0.3870675563812256, + 0.45024919509887695, + 7.545097351074219 + ], + [ + 0.3870675563812256, + 0.45024919509887695, + 6.545097351074219 + ], + [ + 0.03280903398990631, + 1.2561266422271729, + 7.545097351074219 + ], + [ + 0.03280903398990631, + 1.2561266422271729, + 6.545097351074219 + ], + [ + 0.03280903398990631, + 0.45024919509887695, + 7.545097351074219 + ], + [ + 0.03280903398990631, + 0.45024919509887695, + 6.545097351074219 + ] + ], + "center": { + "x": 0.20993830263614655, + "y": 0.8531879186630249, + "z": 7.045097351074219 + }, + "size": { + "x": 0.35425853729248047, + "y": 0.8058774471282959, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.38706743717193604, + 0.4502493441104889, + 6.545097351074219 + ], + [ + 0.3870675563812256, + 0.4502493441104889, + 7.545097351074219 + ], + [ + 0.032809168100357056, + 0.4502493441104889, + 7.545097351074219 + ], + [ + 0.032809048891067505, + 0.4502493441104889, + 6.545097351074219 + ], + [ + 0.38706743717193604, + 1.2561266422271729, + 6.545097351074219 + ], + [ + 0.3870675563812256, + 1.2561266422271729, + 7.545097351074219 + ], + [ + 0.032809168100357056, + 1.2561266422271729, + 7.545097351074219 + ], + [ + 0.032809048891067505, + 1.2561266422271729, + 6.545097351074219 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|2|15", + "object_info": { + "name": "Laptop|surface|2|15", + "position": { + "x": 0.1717393398284912, + "y": 0.2722490429878235, + "z": 6.742919445037842 + }, + "rotation": { + "x": 3.5262190067442134e-05, + "y": 90.00004577636719, + "z": -8.323108340846375e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.674742221832275, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|15", + "assetId": "Laptop_11", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31771552562713623, + 0.3006870746612549, + 6.9218597412109375 + ], + [ + 0.31771552562713623, + 0.3006870746612549, + 6.563979148864746 + ], + [ + 0.31771552562713623, + 0.27224868535995483, + 6.9218597412109375 + ], + [ + 0.31771552562713623, + 0.27224868535995483, + 6.563979148864746 + ], + [ + 0.053603917360305786, + 0.3006870746612549, + 6.9218597412109375 + ], + [ + 0.053603917360305786, + 0.3006870746612549, + 6.563979148864746 + ], + [ + 0.053603917360305786, + 0.27224868535995483, + 6.9218597412109375 + ], + [ + 0.053603917360305786, + 0.27224868535995483, + 6.563979148864746 + ] + ], + "center": { + "x": 0.185659721493721, + "y": 0.28646788001060486, + "z": 6.742919445037842 + }, + "size": { + "x": 0.26411160826683044, + "y": 0.02843838930130005, + "z": 0.3578805923461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.31771522760391235, + 0.27224868535995483, + 6.563979148864746 + ], + [ + 0.31771552562713623, + 0.2722492218017578, + 6.921859264373779 + ], + [ + 0.053604185581207275, + 0.27224937081336975, + 6.9218597412109375 + ], + [ + 0.0536038875579834, + 0.27224886417388916, + 6.563979625701904 + ], + [ + 0.31771522760391235, + 0.30068638920783997, + 6.563979148864746 + ], + [ + 0.31771552562713623, + 0.30068689584732056, + 6.921859264373779 + ], + [ + 0.05360420048236847, + 0.3006870746612549, + 6.921859264373779 + ], + [ + 0.05360390245914459, + 0.3006865382194519, + 6.563979625701904 + ] + ] + } + } + }, + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 2.9205009937286377, + "y": 1.5338008403778076, + "z": 7.684004306793213 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 6.252353191375732, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.3992745876312256, + 1.8621785640716553, + 7.684000015258789 + ], + [ + 3.3992745876312256, + 1.8621785640716553, + 7.65225887298584 + ], + [ + 3.3992745876312256, + 1.20542311668396, + 7.684000015258789 + ], + [ + 3.3992745876312256, + 1.20542311668396, + 7.65225887298584 + ], + [ + 2.44172739982605, + 1.8621785640716553, + 7.684000015258789 + ], + [ + 2.44172739982605, + 1.8621785640716553, + 7.65225887298584 + ], + [ + 2.44172739982605, + 1.20542311668396, + 7.684000015258789 + ], + [ + 2.44172739982605, + 1.20542311668396, + 7.65225887298584 + ] + ], + "center": { + "x": 2.9205009937286377, + "y": 1.5338008403778076, + "z": 7.6681294441223145 + }, + "size": { + "x": 0.9575471878051758, + "y": 0.6567554473876953, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DeskLamp|surface|2|7", + "object_info": { + "name": "DeskLamp|surface|2|7", + "position": { + "x": 2.804732322692871, + "y": 0.7813308835029602, + "z": 4.2361979484558105 + }, + "rotation": { + "x": 0.011068922467529774, + "y": 90.00056457519531, + "z": 0.011609411798417568 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.7944281101226807, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|2|7", + "assetId": "Desk_Lamp_4", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.901235580444336, + 1.1488263607025146, + 4.344791412353516 + ], + [ + 2.901235580444336, + 1.1488263607025146, + 4.127719879150391 + ], + [ + 2.901235580444336, + 0.7804625034332275, + 4.344791412353516 + ], + [ + 2.901235580444336, + 0.7804625034332275, + 4.127719879150391 + ], + [ + 2.708235740661621, + 1.1488263607025146, + 4.344791412353516 + ], + [ + 2.708235740661621, + 1.1488263607025146, + 4.127719879150391 + ], + [ + 2.708235740661621, + 0.7804625034332275, + 4.344791412353516 + ], + [ + 2.708235740661621, + 0.7804625034332275, + 4.127719879150391 + ] + ], + "center": { + "x": 2.8047356605529785, + "y": 0.9646444320678711, + "z": 4.236255645751953 + }, + "size": { + "x": 0.19299983978271484, + "y": 0.3683638572692871, + "z": 0.217071533203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.9012339115142822, + 0.7804823517799377, + 4.127673625946045 + ], + [ + 2.901236057281494, + 0.7804383635520935, + 4.344717979431152 + ], + [ + 2.7082326412200928, + 0.7804756760597229, + 4.344719886779785 + ], + [ + 2.708230495452881, + 0.7805196046829224, + 4.127675533294678 + ], + [ + 2.9013051986694336, + 1.1488335132598877, + 4.127748012542725 + ], + [ + 2.9013073444366455, + 1.1487895250320435, + 4.34479284286499 + ], + [ + 2.708303689956665, + 1.1488268375396729, + 4.344794750213623 + ], + [ + 2.708301544189453, + 1.148870825767517, + 4.127749919891357 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 7.0871500968933105, + "y": 0.0025141239166259766, + "z": 7.218180179595947 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 7.543399810791016, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_205_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.663996696472168, + 0.8599715232849121, + 7.664050579071045 + ], + [ + 7.663996696472168, + 0.8599715232849121, + 6.794226169586182 + ], + [ + 7.663996696472168, + -1.7583370208740234e-05, + 7.664050579071045 + ], + [ + 7.663996696472168, + -1.7583370208740234e-05, + 6.794226169586182 + ], + [ + 6.509860038757324, + 0.8599715232849121, + 7.664050579071045 + ], + [ + 6.509860038757324, + 0.8599715232849121, + 6.794226169586182 + ], + [ + 6.509860038757324, + -1.7583370208740234e-05, + 7.664050579071045 + ], + [ + 6.509860038757324, + -1.7583370208740234e-05, + 6.794226169586182 + ] + ], + "center": { + "x": 7.086928367614746, + "y": 0.4299769699573517, + "z": 7.229138374328613 + }, + "size": { + "x": 1.1541366577148438, + "y": 0.8599891066551208, + "z": 0.8698244094848633 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.509859561920166, + -1.7404556274414062e-05, + 6.79422664642334 + ], + [ + 7.66399621963501, + -1.7404556274414062e-05, + 6.79422664642334 + ], + [ + 7.663996696472168, + -1.7404556274414062e-05, + 7.664050579071045 + ], + [ + 6.509860038757324, + -1.7404556274414062e-05, + 7.664051055908203 + ], + [ + 6.509859561920166, + 0.8599713444709778, + 6.79422664642334 + ], + [ + 7.66399621963501, + 0.8599713444709778, + 6.79422664642334 + ], + [ + 7.663996696472168, + 0.8599713444709778, + 7.664050579071045 + ], + [ + 6.509860038757324, + 0.8599713444709778, + 7.664051055908203 + ] + ] + } + } + }, + { + "objectId": "Candle|surface|2|14", + "object_info": { + "name": "Candle|surface|2|14", + "position": { + "x": 2.557537078857422, + "y": 0.7804574966430664, + "z": 4.901950836181641 + }, + "rotation": { + "x": 0.020100217312574387, + "y": 90.00296020507812, + "z": 359.9830627441406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Metal", + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.4179494380950928, + "objectType": "Candle", + "objectId": "Candle|surface|2|14", + "assetId": "RoboTHOR_candle_glittrig_3_v", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.608767032623291, + 1.1596379280090332, + 4.9514546394348145 + ], + [ + 2.608767032623291, + 1.1596379280090332, + 4.852334499359131 + ], + [ + 2.608767032623291, + 0.780424952507019, + 4.9514546394348145 + ], + [ + 2.608767032623291, + 0.780424952507019, + 4.852334499359131 + ], + [ + 2.5064401626586914, + 1.1596379280090332, + 4.9514546394348145 + ], + [ + 2.5064401626586914, + 1.1596379280090332, + 4.852334499359131 + ], + [ + 2.5064401626586914, + 0.780424952507019, + 4.9514546394348145 + ], + [ + 2.5064401626586914, + 0.780424952507019, + 4.852334499359131 + ] + ], + "center": { + "x": 2.557603597640991, + "y": 0.9700314402580261, + "z": 4.901894569396973 + }, + "size": { + "x": 0.10232686996459961, + "y": 0.37921297550201416, + "z": 0.0991201400756836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.608628988265991, + 0.780424952507019, + 4.852446556091309 + ], + [ + 2.6086339950561523, + 0.7804542183876038, + 4.951449871063232 + ], + [ + 2.5064451694488525, + 0.7804900407791138, + 4.951455116271973 + ], + [ + 2.5064401626586914, + 0.780460774898529, + 4.852451801300049 + ], + [ + 2.608761787414551, + 1.1595728397369385, + 4.852334499359131 + ], + [ + 2.608767032623291, + 1.1596020460128784, + 4.9513373374938965 + ], + [ + 2.506578207015991, + 1.1596379280090332, + 4.951343059539795 + ], + [ + 2.50657320022583, + 1.1596086025238037, + 4.852339744567871 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|2|11", + "object_info": { + "name": "Plate|surface|2|11", + "position": { + "x": 2.9283313751220703, + "y": 0.7806474566459656, + "z": 4.9019622802734375 + }, + "rotation": { + "x": -6.165472314023646e-06, + "y": 89.99996185302734, + "z": 4.122482835100527e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 3.471017837524414, + "objectType": "Plate", + "objectId": "Plate|surface|2|11", + "assetId": "Plate_11", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.039360523223877, + 0.8035833835601807, + 5.013463020324707 + ], + [ + 3.039360523223877, + 0.8035833835601807, + 4.790627479553223 + ], + [ + 3.039360523223877, + 0.7804646492004395, + 5.013463020324707 + ], + [ + 3.039360523223877, + 0.7804646492004395, + 4.790627479553223 + ], + [ + 2.8167014122009277, + 0.8035833835601807, + 5.013463020324707 + ], + [ + 2.8167014122009277, + 0.8035833835601807, + 4.790627479553223 + ], + [ + 2.8167014122009277, + 0.7804646492004395, + 5.013463020324707 + ], + [ + 2.8167014122009277, + 0.7804646492004395, + 4.790627479553223 + ] + ], + "center": { + "x": 2.9280309677124023, + "y": 0.7920240163803101, + "z": 4.902045249938965 + }, + "size": { + "x": 0.22265911102294922, + "y": 0.02311873435974121, + "z": 0.22283554077148438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.039360523223877, + 0.7804646492004395, + 4.790627479553223 + ], + [ + 3.039360523223877, + 0.7804646492004395, + 5.013462543487549 + ], + [ + 2.816701650619507, + 0.7804645895957947, + 5.013462066650391 + ], + [ + 2.816701889038086, + 0.7804645895957947, + 4.790627479553223 + ], + [ + 3.039360523223877, + 0.8035833835601807, + 4.790627479553223 + ], + [ + 3.039360523223877, + 0.8035833835601807, + 5.013462543487549 + ], + [ + 2.816701650619507, + 0.8035833239555359, + 5.013462066650391 + ], + [ + 2.816701889038086, + 0.8035833239555359, + 4.790627479553223 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|2|10", + "object_info": { + "name": "CreditCard|surface|2|10", + "position": { + "x": 0.2909723222255707, + "y": 0.2725938558578491, + "z": 7.335797309875488 + }, + "rotation": { + "x": 0.00010823734191944823, + "y": 4.104360778001137e-05, + "z": -0.00035501347156241536 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 6.187828063964844, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|10", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33405470848083496, + 0.2767389714717865, + 7.362796306610107 + ], + [ + 0.33405470848083496, + 0.2767389714717865, + 7.308798313140869 + ], + [ + 0.33405470848083496, + 0.272248774766922, + 7.362796306610107 + ], + [ + 0.33405470848083496, + 0.272248774766922, + 7.308798313140869 + ], + [ + 0.2478899359703064, + 0.2767389714717865, + 7.362796306610107 + ], + [ + 0.2478899359703064, + 0.2767389714717865, + 7.308798313140869 + ], + [ + 0.2478899359703064, + 0.272248774766922, + 7.362796306610107 + ], + [ + 0.2478899359703064, + 0.272248774766922, + 7.308798313140869 + ] + ], + "center": { + "x": 0.2909723222255707, + "y": 0.27449387311935425, + "z": 7.335797309875488 + }, + "size": { + "x": 0.08616477251052856, + "y": 0.004490196704864502, + "z": 0.05399799346923828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3340546786785126, + 0.272248774766922, + 7.362796306610107 + ], + [ + 0.24788999557495117, + 0.272249311208725, + 7.362796306610107 + ], + [ + 0.24788996577262878, + 0.27224940061569214, + 7.308798313140869 + ], + [ + 0.3340546488761902, + 0.27224886417388916, + 7.308798313140869 + ], + [ + 0.33405470848083496, + 0.27673834562301636, + 7.362796306610107 + ], + [ + 0.24789002537727356, + 0.27673888206481934, + 7.362796306610107 + ], + [ + 0.24788999557495117, + 0.2767389714717865, + 7.308798313140869 + ], + [ + 0.3340546786785126, + 0.2767384350299835, + 7.308798313140869 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.045081615447998 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Laptop|surface|2|15", + "CreditCard|surface|2|10", + "Pen|surface|2|9" + ], + "distance": 5.941683769226074, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 7.646132946014404 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.444030284881592 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 7.646132946014404 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.444030284881592 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 7.646132946014404 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.444030284881592 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 7.646132946014404 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.444030284881592 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.045081615447998 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|surface|2|9", + "object_info": { + "name": "Pen|surface|2|9", + "position": { + "x": 0.131995290517807, + "y": 0.2778940498828888, + "z": 7.039358139038086 + }, + "rotation": { + "x": 2.5640234525781125e-05, + "y": 1.3490539458871353e-05, + "z": -0.0001195283402921632 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.96311092376709, + "objectType": "Pen", + "objectId": "Pen|surface|2|9", + "assetId": "Pen_3", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.13764044642448425, + 0.28353893756866455, + 7.14575719833374 + ], + [ + 0.13764044642448425, + 0.28353893756866455, + 6.945919513702393 + ], + [ + 0.13764044642448425, + 0.27224916219711304, + 7.14575719833374 + ], + [ + 0.13764044642448425, + 0.27224916219711304, + 6.945919513702393 + ], + [ + 0.12635016441345215, + 0.28353893756866455, + 7.14575719833374 + ], + [ + 0.12635016441345215, + 0.28353893756866455, + 6.945919513702393 + ], + [ + 0.12635016441345215, + 0.27224916219711304, + 7.14575719833374 + ], + [ + 0.12635016441345215, + 0.27224916219711304, + 6.945919513702393 + ] + ], + "center": { + "x": 0.1319953054189682, + "y": 0.2778940498828888, + "z": 7.045838356018066 + }, + "size": { + "x": 0.011290282011032104, + "y": 0.011289775371551514, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.13764043152332306, + 0.27224913239479065, + 7.14575719833374 + ], + [ + 0.12635020911693573, + 0.27224916219711304, + 7.14575719833374 + ], + [ + 0.12635016441345215, + 0.2722492516040802, + 6.945919036865234 + ], + [ + 0.13764038681983948, + 0.2722492218017578, + 6.945919036865234 + ], + [ + 0.13764046132564545, + 0.2835388481616974, + 7.14575719833374 + ], + [ + 0.12635023891925812, + 0.2835388779640198, + 7.14575719833374 + ], + [ + 0.12635017931461334, + 0.28353896737098694, + 6.945919036865234 + ], + [ + 0.13764041662216187, + 0.28353893756866455, + 6.945919036865234 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.045146465301514 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Book|surface|2|13", + "CellPhone|surface|2|3", + "RemoteControl|surface|2|2" + ], + "distance": 5.964388370513916, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 7.64619779586792 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.444095134735107 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 7.64619779586792 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.444095134735107 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 7.64619779586792 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.444095134735107 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 7.64619779586792 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.444095134735107 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.045146465301514 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|2|2", + "object_info": { + "name": "RemoteControl|surface|2|2", + "position": { + "x": 0.13200770318508148, + "y": 0.08994869142770767, + "z": 6.742987632751465 + }, + "rotation": { + "x": 359.9859924316406, + "y": 0.0032201705034822226, + "z": 0.0017636691918596625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.712496280670166, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|2", + "assetId": "Remote_1", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.16602426767349243, + 0.10691650211811066, + 6.850394248962402 + ], + [ + 0.16602426767349243, + 0.10691650211811066, + 6.63478946685791 + ], + [ + 0.16602426767349243, + 0.08823128044605255, + 6.850394248962402 + ], + [ + 0.16602426767349243, + 0.08823128044605255, + 6.63478946685791 + ], + [ + 0.09799382090568542, + 0.10691650211811066, + 6.850394248962402 + ], + [ + 0.09799382090568542, + 0.10691650211811066, + 6.63478946685791 + ], + [ + 0.09799382090568542, + 0.08823128044605255, + 6.850394248962402 + ], + [ + 0.09799382090568542, + 0.08823128044605255, + 6.63478946685791 + ] + ], + "center": { + "x": 0.13200904428958893, + "y": 0.0975738912820816, + "z": 6.742591857910156 + }, + "size": { + "x": 0.068030446767807, + "y": 0.018685221672058105, + "z": 0.2156047821044922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.16602429747581482, + 0.08827220648527145, + 6.850390911102295 + ], + [ + 0.09800329059362411, + 0.08827011287212372, + 6.8503947257995605 + ], + [ + 0.09799117594957352, + 0.0882173627614975, + 6.634796142578125 + ], + [ + 0.16601216793060303, + 0.08821945637464523, + 6.634792327880859 + ], + [ + 0.16602371633052826, + 0.10691650211811066, + 6.850386142730713 + ], + [ + 0.09800271689891815, + 0.10691440850496292, + 6.8503899574279785 + ], + [ + 0.09799060225486755, + 0.1068616509437561, + 6.634791374206543 + ], + [ + 0.16601160168647766, + 0.10686374455690384, + 6.634787559509277 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 2.8047311305999756, + "y": 0.0008652806282043457, + "z": 4.236198425292969 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "DeskLamp|surface|2|7", + "Plate|surface|2|11", + "HousePlant|surface|2|0", + "Pen|surface|2|4", + "Candle|surface|2|14" + ], + "distance": 2.9333856105804443, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_208_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2985825538635254, + 0.7804646492004395, + 5.125759124755859 + ], + [ + 3.2985825538635254, + 0.7804646492004395, + 3.346637725830078 + ], + [ + 3.2985825538635254, + 2.562999725341797e-06, + 5.125759124755859 + ], + [ + 3.2985825538635254, + 2.562999725341797e-06, + 3.346637725830078 + ], + [ + 2.310879707336426, + 0.7804646492004395, + 5.125759124755859 + ], + [ + 2.310879707336426, + 0.7804646492004395, + 3.346637725830078 + ], + [ + 2.310879707336426, + 2.562999725341797e-06, + 5.125759124755859 + ], + [ + 2.310879707336426, + 2.562999725341797e-06, + 3.346637725830078 + ] + ], + "center": { + "x": 2.8047311305999756, + "y": 0.3902336061000824, + "z": 4.236198425292969 + }, + "size": { + "x": 0.9877028465270996, + "y": 0.7804620862007141, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.2985823154449463, + 2.6226043701171875e-06, + 3.346637487411499 + ], + [ + 3.2985825538635254, + 2.6226043701171875e-06, + 5.125759124755859 + ], + [ + 2.310879945755005, + 2.6226043701171875e-06, + 5.125759124755859 + ], + [ + 2.310879707336426, + 2.6226043701171875e-06, + 3.346637725830078 + ], + [ + 3.2985823154449463, + 0.7804644703865051, + 3.346637487411499 + ], + [ + 3.2985825538635254, + 0.7804644703865051, + 5.125759124755859 + ], + [ + 2.310879945755005, + 0.7804644703865051, + 5.125759124755859 + ], + [ + 2.310879707336426, + 0.7804644703865051, + 3.346637725830078 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 2.206246852874756, + "y": 0.013664305210113525, + "z": 4.230980396270752 + }, + "rotation": { + "x": -0.0, + "y": 103.88829803466797, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Bowl|surface|2|8" + ], + "distance": 2.871851682662964, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "Chair_311_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5638856887817383, + 0.8401099443435669, + 4.524788856506348 + ], + [ + 2.5638856887817383, + 0.8401099443435669, + 3.9249258041381836 + ], + [ + 2.5638856887817383, + -3.0219554901123047e-05, + 4.524788856506348 + ], + [ + 2.5638856887817383, + -3.0219554901123047e-05, + 3.9249258041381836 + ], + [ + 1.8616132736206055, + 0.8401099443435669, + 4.524788856506348 + ], + [ + 1.8616132736206055, + 0.8401099443435669, + 3.9249258041381836 + ], + [ + 1.8616132736206055, + -3.0219554901123047e-05, + 4.524788856506348 + ], + [ + 1.8616132736206055, + -3.0219554901123047e-05, + 3.9249258041381836 + ] + ], + "center": { + "x": 2.212749481201172, + "y": 0.4200398623943329, + "z": 4.224857330322266 + }, + "size": { + "x": 0.7022724151611328, + "y": 0.840140163898468, + "z": 0.5998630523681641 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4539761543273926, + -2.995133399963379e-05, + 3.923839569091797 + ], + [ + 2.5715315341949463, + -2.995133399963379e-05, + 4.399275302886963 + ], + [ + 1.9676785469055176, + -2.995133399963379e-05, + 4.548583030700684 + ], + [ + 1.8501231670379639, + -2.995133399963379e-05, + 4.073147296905518 + ], + [ + 2.4539761543273926, + 0.840109646320343, + 3.923839569091797 + ], + [ + 2.5715315341949463, + 0.840109646320343, + 4.399275302886963 + ], + [ + 1.9676785469055176, + 0.840109646320343, + 4.548583030700684 + ], + [ + 1.8501231670379639, + 0.840109646320343, + 4.073147296905518 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|3", + "object_info": { + "name": "CellPhone|surface|2|3", + "position": { + "x": 0.13199293613433838, + "y": 0.08787509799003601, + "z": 6.891202926635742 + }, + "rotation": { + "x": -0.00010856745211640373, + "y": 89.99992370605469, + "z": -0.0014996594982221723 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.849119186401367, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|3", + "assetId": "Cellphone_7", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.20629559457302094, + 0.09853186458349228, + 6.92924165725708 + ], + [ + 0.20629559457302094, + 0.09853186458349228, + 6.853164196014404 + ], + [ + 0.20629559457302094, + 0.0882478728890419, + 6.92924165725708 + ], + [ + 0.20629559457302094, + 0.0882478728890419, + 6.853164196014404 + ], + [ + 0.057690247893333435, + 0.09853186458349228, + 6.92924165725708 + ], + [ + 0.057690247893333435, + 0.09853186458349228, + 6.853164196014404 + ], + [ + 0.057690247893333435, + 0.0882478728890419, + 6.92924165725708 + ], + [ + 0.057690247893333435, + 0.0882478728890419, + 6.853164196014404 + ] + ], + "center": { + "x": 0.13199292123317719, + "y": 0.09338986873626709, + "z": 6.891202926635742 + }, + "size": { + "x": 0.1486053466796875, + "y": 0.010283991694450378, + "z": 0.07607746124267578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.20629559457302094, + 0.08824815601110458, + 6.8531646728515625 + ], + [ + 0.20629549026489258, + 0.08825014531612396, + 6.92924165725708 + ], + [ + 0.05769027769565582, + 0.08824986219406128, + 6.929241180419922 + ], + [ + 0.05769038200378418, + 0.0882478728890419, + 6.853164196014404 + ], + [ + 0.20629557967185974, + 0.0985298752784729, + 6.853164196014404 + ], + [ + 0.2062954604625702, + 0.09853186458349228, + 6.929241180419922 + ], + [ + 0.05769025534391403, + 0.09853158891201019, + 6.929241180419922 + ], + [ + 0.05769035965204239, + 0.09852959215641022, + 6.853164196014404 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 7.253239631652832, + "y": -5.155801773071289e-06, + "z": 4.238999843597412 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 5.774628639221191, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "RoboTHOR_armchair_ektorp", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.664008140563965, + 0.8387733101844788, + 4.726808547973633 + ], + [ + 7.664008140563965, + 0.8387733101844788, + 3.7557077407836914 + ], + [ + 7.664008140563965, + -5.304813385009766e-06, + 4.726808547973633 + ], + [ + 7.664008140563965, + -5.304813385009766e-06, + 3.7557077407836914 + ], + [ + 6.812361717224121, + 0.8387733101844788, + 4.726808547973633 + ], + [ + 6.812361717224121, + 0.8387733101844788, + 3.7557077407836914 + ], + [ + 6.812361717224121, + -5.304813385009766e-06, + 4.726808547973633 + ], + [ + 6.812361717224121, + -5.304813385009766e-06, + 3.7557077407836914 + ] + ], + "center": { + "x": 7.238184928894043, + "y": 0.4193840026855469, + "z": 4.241258144378662 + }, + "size": { + "x": 0.8516464233398438, + "y": 0.8387786149978638, + "z": 0.9711008071899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.812361240386963, + -5.155801773071289e-06, + 4.726808547973633 + ], + [ + 6.812361717224121, + -5.155801773071289e-06, + 3.7557079792022705 + ], + [ + 7.664007186889648, + -5.155801773071289e-06, + 3.7557082176208496 + ], + [ + 7.664007186889648, + -5.155801773071289e-06, + 4.726809024810791 + ], + [ + 6.812361240386963, + 0.8387726545333862, + 4.726808547973633 + ], + [ + 6.812361717224121, + 0.8387726545333862, + 3.7557079792022705 + ], + [ + 7.664007186889648, + 0.8387726545333862, + 3.7557082176208496 + ], + [ + 7.664007186889648, + 0.8387726545333862, + 4.726809024810791 + ] + ] + } + } + }, + { + "objectId": "HousePlant|surface|2|0", + "object_info": { + "name": "HousePlant|surface|2|0", + "position": { + "x": 3.0519309043884277, + "y": 0.7692338824272156, + "z": 4.01427698135376 + }, + "rotation": { + "x": -3.5815548926620977e-06, + "y": 89.99991607666016, + "z": 2.7726406187866814e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 2.6423556804656982, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|2|0", + "assetId": "Houseplant_19", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2101306915283203, + 1.2965338230133057, + 4.192477226257324 + ], + [ + 3.2101306915283203, + 1.2965338230133057, + 3.8629770278930664 + ], + [ + 3.2101306915283203, + 0.7804644107818604, + 4.192477226257324 + ], + [ + 3.2101306915283203, + 0.7804644107818604, + 3.8629770278930664 + ], + [ + 2.9039306640625, + 1.2965338230133057, + 4.192477226257324 + ], + [ + 2.9039306640625, + 1.2965338230133057, + 3.8629770278930664 + ], + [ + 2.9039306640625, + 0.7804644107818604, + 4.192477226257324 + ], + [ + 2.9039306640625, + 0.7804644107818604, + 3.8629770278930664 + ] + ], + "center": { + "x": 3.05703067779541, + "y": 1.038499116897583, + "z": 4.027727127075195 + }, + "size": { + "x": 0.3062000274658203, + "y": 0.5160694718360901, + "z": 0.3295001983642578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.2101311683654785, + 0.780464231967926, + 3.8629772663116455 + ], + [ + 3.2101306915283203, + 0.7804641127586365, + 4.192477226257324 + ], + [ + 2.9039306640625, + 0.7804640531539917, + 4.192476749420166 + ], + [ + 2.903931140899658, + 0.780464231967926, + 3.8629767894744873 + ], + [ + 3.2101311683654785, + 1.2965339422225952, + 3.8629775047302246 + ], + [ + 3.2101306915283203, + 1.2965338230133057, + 4.192477703094482 + ], + [ + 2.9039306640625, + 1.2965338230133057, + 4.192477226257324 + ], + [ + 2.903931140899658, + 1.2965339422225952, + 3.8629770278930664 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 7.235468864440918, + "y": 0.004550814628601074, + "z": 5.168550968170166 + }, + "rotation": { + "x": -0.0045873550698161125, + "y": 165.78297424316406, + "z": 0.051534850150346756 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 6.2543416023254395, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.49247932434082, + 1.904921054840088, + 5.423825263977051 + ], + [ + 7.49247932434082, + 1.904921054840088, + 4.918190956115723 + ], + [ + 7.49247932434082, + -1.8715858459472656e-05, + 5.423825263977051 + ], + [ + 7.49247932434082, + -1.8715858459472656e-05, + 4.918190956115723 + ], + [ + 6.987342834472656, + 1.904921054840088, + 5.423825263977051 + ], + [ + 6.987342834472656, + 1.904921054840088, + 4.918190956115723 + ], + [ + 6.987342834472656, + -1.8715858459472656e-05, + 5.423825263977051 + ], + [ + 6.987342834472656, + -1.8715858459472656e-05, + 4.918190956115723 + ] + ], + "center": { + "x": 7.239911079406738, + "y": 0.9524511694908142, + "z": 5.171008110046387 + }, + "size": { + "x": 0.5051364898681641, + "y": 1.9049397706985474, + "z": 0.5056343078613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.087922096252441, + 0.0003027557395398617, + 4.916811943054199 + ], + [ + 7.4908905029296875, + -7.114699110388756e-05, + 5.018906116485596 + ], + [ + 7.388443470001221, + -0.00010454468429088593, + 5.4232659339904785 + ], + [ + 6.985475540161133, + 0.0002693580463528633, + 5.321171760559082 + ], + [ + 7.089545249938965, + 1.904923915863037, + 4.9173808097839355 + ], + [ + 7.492513656616211, + 1.9045499563217163, + 5.019474506378174 + ], + [ + 7.390066623687744, + 1.904516577720642, + 5.423834323883057 + ], + [ + 6.987098693847656, + 1.904890537261963, + 5.32174015045166 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|6", + "object_info": { + "name": "Vase|surface|2|6", + "position": { + "x": 0.164486363530159, + "y": 0.4502851665019989, + "z": 7.508902072906494 + }, + "rotation": { + "x": 1.9836468254652573e-06, + "y": 0.00040212739259004593, + "z": -1.4496603171210154e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 6.376473426818848, + "objectType": "Vase", + "objectId": "Vase|surface|2|6", + "assetId": "Vase_Flat_4", + "parentReceptacles": [ + "Floor", + "TVStand|2|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.23998335003852844, + 0.5204170942306519, + 7.584649085998535 + ], + [ + 0.23998335003852844, + 0.5204170942306519, + 7.433656692504883 + ], + [ + 0.23998335003852844, + 0.45024925470352173, + 7.584649085998535 + ], + [ + 0.23998335003852844, + 0.45024925470352173, + 7.433656692504883 + ], + [ + 0.08899036049842834, + 0.5204170942306519, + 7.584649085998535 + ], + [ + 0.08899036049842834, + 0.5204170942306519, + 7.433656692504883 + ], + [ + 0.08899036049842834, + 0.45024925470352173, + 7.584649085998535 + ], + [ + 0.08899036049842834, + 0.45024925470352173, + 7.433656692504883 + ] + ], + "center": { + "x": 0.1644868552684784, + "y": 0.4853331744670868, + "z": 7.509152889251709 + }, + "size": { + "x": 0.1509929895401001, + "y": 0.07016783952713013, + "z": 0.15099239349365234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.23998388648033142, + 0.45024916529655457, + 7.584648609161377 + ], + [ + 0.08899088948965073, + 0.45024916529655457, + 7.584649562835693 + ], + [ + 0.08898983150720596, + 0.45024916529655457, + 7.433657646179199 + ], + [ + 0.23998284339904785, + 0.45024916529655457, + 7.433656692504883 + ], + [ + 0.23998390138149261, + 0.5204172730445862, + 7.584648609161377 + ], + [ + 0.08899089694023132, + 0.5204172730445862, + 7.584649562835693 + ], + [ + 0.08898983150720596, + 0.5204172730445862, + 7.433657646179199 + ], + [ + 0.23998284339904785, + 0.5204172730445862, + 7.433656692504883 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|13", + "object_info": { + "name": "Book|surface|2|13", + "position": { + "x": 0.17174452543258667, + "y": 0.08799111843109131, + "z": 7.187646389007568 + }, + "rotation": { + "x": 0.014895327389240265, + "y": -0.0012468222994357347, + "z": 0.04007522389292717 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 6.109783172607422, + "objectType": "Book", + "objectId": "Book|surface|2|13", + "assetId": "Book_19", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.28376638889312744, + 0.12871944904327393, + 7.337699890136719 + ], + [ + 0.28376638889312744, + 0.12871944904327393, + 7.037603378295898 + ], + [ + 0.28376638889312744, + 0.08814667165279388, + 7.337699890136719 + ], + [ + 0.28376638889312744, + 0.08814667165279388, + 7.037603378295898 + ], + [ + 0.056357741355895996, + 0.12871944904327393, + 7.337699890136719 + ], + [ + 0.056357741355895996, + 0.12871944904327393, + 7.037603378295898 + ], + [ + 0.056357741355895996, + 0.08814667165279388, + 7.337699890136719 + ], + [ + 0.056357741355895996, + 0.08814667165279388, + 7.037603378295898 + ] + ], + "center": { + "x": 0.17006206512451172, + "y": 0.1084330603480339, + "z": 7.187651634216309 + }, + "size": { + "x": 0.22740864753723145, + "y": 0.04057277739048004, + "z": 0.3000965118408203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2837602496147156, + 0.0882057249546051, + 7.3376898765563965 + ], + [ + 0.056385114789009094, + 0.08804668486118317, + 7.3376851081848145 + ], + [ + 0.056391648948192596, + 0.08812469989061356, + 7.03760290145874 + ], + [ + 0.28376680612564087, + 0.08828373998403549, + 7.037607669830322 + ], + [ + 0.28373196721076965, + 0.12865915894508362, + 7.337700843811035 + ], + [ + 0.056356824934482574, + 0.12850013375282288, + 7.337695598602295 + ], + [ + 0.05636335164308548, + 0.12857814133167267, + 7.037613391876221 + ], + [ + 0.28373849391937256, + 0.1287371814250946, + 7.037618160247803 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|2|8", + "object_info": { + "name": "Bowl|surface|2|8", + "position": { + "x": 2.2460758686065674, + "y": 0.44491952657699585, + "z": 4.2201714515686035 + }, + "rotation": { + "x": 359.7945556640625, + "y": 103.88968658447266, + "z": 0.01526615209877491 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.758143901824951, + "objectType": "Bowl", + "objectId": "Bowl|surface|2|8", + "assetId": "Bowl_14", + "parentReceptacles": [ + "Chair|2|1|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.389525890350342, + 0.5525811910629272, + 4.3614654541015625 + ], + [ + 2.389525890350342, + 0.5525811910629272, + 4.078487396240234 + ], + [ + 2.389525890350342, + 0.44512689113616943, + 4.3614654541015625 + ], + [ + 2.389525890350342, + 0.44512689113616943, + 4.078487396240234 + ], + [ + 2.105621814727783, + 0.5525811910629272, + 4.3614654541015625 + ], + [ + 2.105621814727783, + 0.5525811910629272, + 4.078487396240234 + ], + [ + 2.105621814727783, + 0.44512689113616943, + 4.3614654541015625 + ], + [ + 2.105621814727783, + 0.44512689113616943, + 4.078487396240234 + ] + ], + "center": { + "x": 2.2475738525390625, + "y": 0.49885404109954834, + "z": 4.219976425170898 + }, + "size": { + "x": 0.2839040756225586, + "y": 0.10745429992675781, + "z": 0.2829780578613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.3390347957611084, + 0.44538789987564087, + 4.07559871673584 + ], + [ + 2.3962223529815674, + 0.4453244209289551, + 4.30686092376709 + ], + [ + 2.157318592071533, + 0.4444419741630554, + 4.36593770980835 + ], + [ + 2.100131034851074, + 0.4445054531097412, + 4.134675979614258 + ], + [ + 2.3386683464050293, + 0.552635669708252, + 4.075718879699707 + ], + [ + 2.3958559036254883, + 0.5525721907615662, + 4.306980609893799 + ], + [ + 2.156952142715454, + 0.5516897439956665, + 4.366057872772217 + ], + [ + 2.099764585494995, + 0.5517532229423523, + 4.134795665740967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.0999999046325684, + "y": 0.9009997844696045, + "z": 0.800000011920929 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.0999999046325684, + "y": 1.5759997367858887, + "z": 0.800000011920929 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|2|3|0", + "FloorLamp|2|4|1", + "ArmChair|2|4|0" + ], + "different_object": [ + "Book|surface|2|13", + "Television|2|0|1", + "RemoteControl|surface|2|2", + "Vase|surface|2|6", + "Painting|2|5", + "TVStand|2|0|0___1", + "Laptop|surface|2|15", + "Bowl|surface|2|8", + "TVStand|2|0|0", + "Plate|surface|2|11", + "DeskLamp|surface|2|7", + "TVStand|2|0|0___0", + "HousePlant|surface|2|0", + "Chair|2|1|2", + "DiningTable|2|1|0", + "Pen|surface|2|9", + "FloorLamp|2|3|1", + "Candle|surface|2|14", + "CellPhone|surface|2|3", + "CreditCard|surface|2|10", + "Chair|2|1|1" + ] +} \ No newline at end of file diff --git a/train/train505/2/1_depth_npy.npy b/train/train505/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..28e251319d752265372c679f7e808f6a2eae99da --- /dev/null +++ b/train/train505/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fda4ef6a86d029f56faceb11a3b20c08bb9ac041dec9e702537a446e8950ca6 +size 3145856 diff --git a/train/train505/2/1_semantic_sensor_npy.npy b/train/train505/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..50a4003161fd51e936f93b1793886269f0b3ad71 --- /dev/null +++ b/train/train505/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3e358652c2afad5cef11f3f21cbec7520d80e5d44768583fa47096f171c2a68 +size 2359424 diff --git a/train/train505/2/depth_0.png b/train/train505/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e02af7a7cec9d67420e698bb520d866e990c54aa Binary files /dev/null and b/train/train505/2/depth_0.png differ diff --git a/train/train505/2/depth_1.png b/train/train505/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..00c3607d0216428d5867c8e51853a587780d1b3b Binary files /dev/null and b/train/train505/2/depth_1.png differ diff --git a/train/train505/2/mask_questions.jsonl b/train/train505/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train505/2/rgb_0.png b/train/train505/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2051c15cf1b8ba47c85d89ba79a1c5a16122f71d --- /dev/null +++ b/train/train505/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:965d346f69e9ea2fb2e9ee4e3cc2b25dbfeaab3410614e3532110d7716f66212 +size 319718 diff --git a/train/train505/2/rgb_1.png b/train/train505/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..224575b2734b46a122cc3d7bfc88ad16c717c0c2 --- /dev/null +++ b/train/train505/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:776cc7414e3582083f4447d5e3935613a095d99d5a01655752f66bd19ba36b66 +size 340128 diff --git a/train/train505/2/semantic_0.png b/train/train505/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f7af04c915a6c5f22bc7fdbc05ba167a154e18ff Binary files /dev/null and b/train/train505/2/semantic_0.png differ diff --git a/train/train505/2/semantic_1.png b/train/train505/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e581ac3327c0302c83364dd73f45f7005265059f Binary files /dev/null and b/train/train505/2/semantic_1.png differ diff --git a/train/train505/3/0_depth_npy.npy b/train/train505/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train505/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train505/3/0_semantic_sensor_npy.npy b/train/train505/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train505/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train505/3/1.json b/train/train505/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train505/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train505/3/1_depth_npy.npy b/train/train505/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train505/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train505/3/1_semantic_sensor_npy.npy b/train/train505/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train505/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train505/3/depth_0.png b/train/train505/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train505/3/depth_0.png differ diff --git a/train/train505/3/mask_questions.jsonl b/train/train505/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train505/3/questions_direction.jsonl b/train/train505/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16887aa51ddf6d3865789606d36bc37d85f2d663 --- /dev/null +++ b/train/train505/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 15170, "folder_dir": "train505/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train505/3/rgb_0.png", "image_2": "train505/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15171, "folder_dir": "train505/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train505/3/rgb_0.png", "image_2": "train505/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15172, "folder_dir": "train505/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train505/3/rgb_0.png", "image_2": "train505/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15173, "folder_dir": "train505/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train505/3/rgb_1.png", "image_2": "train505/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15174, "folder_dir": "train505/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train505/3/rgb_1.png", "image_2": "train505/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15175, "folder_dir": "train505/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train505/3/rgb_1.png", "image_2": "train505/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train505/3/rgb_0.png b/train/train505/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ea9677b74860e484d76f2813dd031bc5a9e4815d --- /dev/null +++ b/train/train505/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44c9d41e2cccf58dfbe1a8be90841c85898e68b42097f10b567dc271dee9fbe4 +size 193684 diff --git a/train/train505/3/rgb_1.png b/train/train505/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f896701dce716931756fdf8743ca9a730ad3dbc5 --- /dev/null +++ b/train/train505/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36aa91e9cd661acddb80176a0e48f4d977f56f437705ccc0eb36d47b50094057 +size 244087 diff --git a/train/train505/3/semantic_0.png b/train/train505/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train505/3/semantic_0.png differ diff --git a/train/train505/4/0.json b/train/train505/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train505/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train505/4/0_depth_npy.npy b/train/train505/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train505/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train505/4/0_semantic_sensor_npy.npy b/train/train505/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train505/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train505/4/1.json b/train/train505/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train505/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train505/4/1_depth_npy.npy b/train/train505/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train505/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train505/4/1_semantic_sensor_npy.npy b/train/train505/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train505/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train505/4/depth_0.png b/train/train505/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train505/4/depth_0.png differ diff --git a/train/train505/4/depth_1.png b/train/train505/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train505/4/depth_1.png differ diff --git a/train/train505/4/mask_questions.jsonl b/train/train505/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train505/4/rgb_0.png b/train/train505/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d2c9d843c36ce10db70e9c8801114fdffb164a24 --- /dev/null +++ b/train/train505/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc9aa23d983015fb31a3201ea583bdff8daef895cef5a90eea6035f27cc459aa +size 242137 diff --git a/train/train505/4/rgb_1.png b/train/train505/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..64be7e8d40d2984fee1f62839276493c8eb49410 --- /dev/null +++ b/train/train505/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f30bf4d753d1ecca0aff56507234c1cec3ee745eaa63a01294769a572b8c93a2 +size 198457 diff --git a/train/train505/4/semantic_0.png b/train/train505/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train505/4/semantic_0.png differ diff --git a/train/train505/4/semantic_1.png b/train/train505/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train505/4/semantic_1.png differ diff --git a/train/train963/0/0.json b/train/train963/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train963/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train963/0/0_depth_npy.npy b/train/train963/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train963/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train963/0/0_semantic_sensor_npy.npy b/train/train963/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train963/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train963/0/1.json b/train/train963/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train963/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train963/0/1_depth_npy.npy b/train/train963/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train963/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train963/0/1_semantic_sensor_npy.npy b/train/train963/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train963/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train963/0/depth_0.png b/train/train963/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train963/0/depth_0.png differ diff --git a/train/train963/0/depth_1.png b/train/train963/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train963/0/depth_1.png differ diff --git a/train/train963/0/mask_questions.jsonl b/train/train963/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91a374df2328d2a80e66b2ab88551555e34a73a0 --- /dev/null +++ b/train/train963/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 9372, "folder_dir": "train963/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. TVStand\nC. Bowl\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "train963/0/rgb_0.png", "image_2": "train963/0/rgb_1.png", "mask_image": "train963/0/rgb_1_mask_Fridge|2|1.png", "options": ["Chair", "TVStand", "Bowl", "Fridge"]} +{"id": 9373, "folder_dir": "train963/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Chair\nC. Vase\nD. Laptop", "answer": "B", "object_name": "Chair", "image_1": "train963/0/rgb_0.png", "image_2": "train963/0/rgb_1.png", "mask_image": "train963/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Fridge", "Chair", "Vase", "Laptop"]} +{"id": 9374, "folder_dir": "train963/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. DiningTable\nC. Dresser\nD. Fridge", "answer": "B", "object_name": "DiningTable", "image_1": "train963/0/rgb_0.png", "image_2": "train963/0/rgb_1.png", "mask_image": "train963/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["Drawer", "DiningTable", "Dresser", "Fridge"]} +{"id": 9375, "folder_dir": "train963/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. Chair\nC. Fridge\nD. Painting", "answer": "C", "object_name": "Fridge", "image_1": "train963/0/rgb_1.png", "image_2": "train963/0/rgb_0.png", "mask_image": "train963/0/rgb_0_mask_Fridge|2|1.png", "options": ["FloorLamp", "Chair", "Fridge", "Painting"]} +{"id": 9376, "folder_dir": "train963/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. FloorLamp\nC. Fridge\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "train963/0/rgb_1.png", "image_2": "train963/0/rgb_0.png", "mask_image": "train963/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Painting", "FloorLamp", "Fridge", "Chair"]} diff --git a/train/train963/0/questions_distance.jsonl b/train/train963/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6fc6ffdd24fcb987cb6fcfefec23fad788e8bd8 --- /dev/null +++ b/train/train963/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 3824, "folder_dir": "train963/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Pen\nC. Vase\nD. Other\n", "answer": "A", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train963/0/rgb_0.png", "image_2": "train963/0/rgb_1.png"} +{"id": 3825, "folder_dir": "train963/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Plate\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train963/0/rgb_0.png", "image_2": "train963/0/rgb_1.png"} diff --git a/train/train963/0/rgb_0.png b/train/train963/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c1e33e17a5091e3db6b0051d08e99bf97e31287b --- /dev/null +++ b/train/train963/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73693276b823b659475fba1ea790925411087775fe95553a2773d76bd275d09d +size 429998 diff --git a/train/train963/0/rgb_0_mask_Chair|4|1|1.png b/train/train963/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9c52bed757d515fa3d79d6897a1fbb3eac31b036 --- /dev/null +++ b/train/train963/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d13463867c67447373908e1b1fc2576ebd6d611cbbb8f94fec276a258d0aede8 +size 361373 diff --git a/train/train963/0/rgb_0_mask_Fridge|2|1.png b/train/train963/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..118393b09b2fd35ed8d0acca47e92869ece9b25f --- /dev/null +++ b/train/train963/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22572900b3c579a19685e7b7223c743fc2b5376b6d7826441195a9edd537e1c0 +size 369428 diff --git a/train/train963/0/rgb_1.png b/train/train963/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8634b6d73c9c34a127a48b5d041df57257f5c84a --- /dev/null +++ b/train/train963/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bb872eb1050e282e811f07589c90ae3b01ef4832a4b12bfd5ae8789e5a52b13 +size 449106 diff --git a/train/train963/0/rgb_1_mask_Chair|4|1|1.png b/train/train963/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..78be8fd88abbeb34f1f1ff5e8b368d7419f3b705 --- /dev/null +++ b/train/train963/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02ec1180c817ee1581e0463adbf2cbe89c7e55c4a170221aa4f658b6a05ff1c3 +size 361982 diff --git a/train/train963/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train963/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb1de62139aea942d042d70c06ce00b31cf1c666 --- /dev/null +++ b/train/train963/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c74a5281eed64764abc6972dc8f36faea55752da11e5c460ef2171a326e871a5 +size 382347 diff --git a/train/train963/0/rgb_1_mask_Fridge|2|1.png b/train/train963/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..48826be385df64dc54d0c0e41e7dae6d231c85da --- /dev/null +++ b/train/train963/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb38c5989e23693046b0bc7edfc327c98682dd31b63a78526d2171cb7ae73e3c +size 397868 diff --git a/train/train963/0/semantic_0.png b/train/train963/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train963/0/semantic_0.png differ diff --git a/train/train963/0/semantic_1.png b/train/train963/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train963/0/semantic_1.png differ diff --git a/train/train963/1/0.json b/train/train963/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..cd438f379f101bf86656463796e2ebb6c4c4b041 --- /dev/null +++ b/train/train963/1/0.json @@ -0,0 +1,1620 @@ +{ + "object": [ + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 3.778594732284546, + "y": 0.0062319934368133545, + "z": 7.154724597930908 + }, + "rotation": { + "x": 0.0, + "y": 206.8677978515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": [ + "Mug|surface|6|22" + ], + "distance": 1.946223258972168, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "RoboTHOR_office_chair_jules", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.099242210388184, + 0.9418675899505615, + 7.510175704956055 + ], + [ + 4.099242210388184, + 0.9418675899505615, + 6.820583343505859 + ], + [ + 4.099242210388184, + -2.115964889526367e-06, + 7.510175704956055 + ], + [ + 4.099242210388184, + -2.115964889526367e-06, + 6.820583343505859 + ], + [ + 3.4694013595581055, + 0.9418675899505615, + 7.510175704956055 + ], + [ + 3.4694013595581055, + 0.9418675899505615, + 6.820583343505859 + ], + [ + 3.4694013595581055, + -2.115964889526367e-06, + 7.510175704956055 + ], + [ + 3.4694013595581055, + -2.115964889526367e-06, + 6.820583343505859 + ] + ], + "center": { + "x": 3.7843217849731445, + "y": 0.4709327518939972, + "z": 7.165379524230957 + }, + "size": { + "x": 0.6298408508300781, + "y": 0.9418697357177734, + "z": 0.6895923614501953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3868589401245117, + -2.0265579223632812e-06, + 7.033090114593506 + ], + [ + 3.869413375854492, + -2.0265579223632812e-06, + 6.7886176109313965 + ], + [ + 4.130183219909668, + -2.0265579223632812e-06, + 7.303339958190918 + ], + [ + 3.6476290225982666, + -2.0265579223632812e-06, + 7.5478129386901855 + ], + [ + 3.3868589401245117, + 0.941867470741272, + 7.033090114593506 + ], + [ + 3.869413375854492, + 0.941867470741272, + 6.7886176109313965 + ], + [ + 4.130183219909668, + 0.941867470741272, + 7.303339958190918 + ], + [ + 3.6476290225982666, + 0.941867470741272, + 7.5478129386901855 + ] + ] + } + } + }, + { + "objectId": "ArmChair|6|4|0", + "object_info": { + "name": "ArmChair|6|4|0", + "position": { + "x": 3.245194911956787, + "y": 0.007798701524734497, + "z": 9.070305824279785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "KeyChain|surface|6|24" + ], + "distance": 3.188749074935913, + "objectType": "ArmChair", + "objectId": "ArmChair|6|4|0", + "assetId": "Armchair_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.6781840324401855, + 0.8204643130302429, + 9.524011611938477 + ], + [ + 3.6781840324401855, + 0.8204643130302429, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 6.079673767089844e-06, + 9.524011611938477 + ], + [ + 3.6781840324401855, + 6.079673767089844e-06, + 8.616594314575195 + ], + [ + 2.8122057914733887, + 0.8204643130302429, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 0.8204643130302429, + 8.616594314575195 + ], + [ + 2.8122057914733887, + 6.079673767089844e-06, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 6.079673767089844e-06, + 8.616594314575195 + ] + ], + "center": { + "x": 3.245194911956787, + "y": 0.410235196352005, + "z": 9.070302963256836 + }, + "size": { + "x": 0.8659782409667969, + "y": 0.8204582333564758, + "z": 0.9074172973632812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.8122057914733887, + 6.22868537902832e-06, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 6.22868537902832e-06, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 6.22868537902832e-06, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 6.22868537902832e-06, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 0.820464015007019, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 0.820464015007019, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 0.820464015007019, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 0.820464015007019, + 9.524011611938477 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|6|23", + "object_info": { + "name": "BasketBall|surface|6|23", + "position": { + "x": 6.236769199371338, + "y": 0.6796680688858032, + "z": 9.325542449951172 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 2.4494824409484863, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|6|23", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.356456279754639, + 0.799355149269104, + 9.445229530334473 + ], + [ + 6.356456279754639, + 0.799355149269104, + 9.205855369567871 + ], + [ + 6.356456279754639, + 0.5599809885025024, + 9.445229530334473 + ], + [ + 6.356456279754639, + 0.5599809885025024, + 9.205855369567871 + ], + [ + 6.117082118988037, + 0.799355149269104, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.799355149269104, + 9.205855369567871 + ], + [ + 6.117082118988037, + 0.5599809885025024, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.5599809885025024, + 9.205855369567871 + ] + ], + "center": { + "x": 6.236769199371338, + "y": 0.6796680688858032, + "z": 9.325542449951172 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937416076660156, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.356456279754639, + 0.5599809885025024, + 9.205855369567871 + ], + [ + 6.356456279754639, + 0.5599809885025024, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.5599809885025024, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.5599809885025024, + 9.205855369567871 + ], + [ + 6.356456279754639, + 0.799355149269104, + 9.205855369567871 + ], + [ + 6.356456279754639, + 0.799355149269104, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.799355149269104, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.799355149269104, + 9.205855369567871 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 3.7563066482543945, + "y": -0.0002084672451019287, + "z": 6.720950603485107 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DeskLamp|surface|6|25", + "Bowl|surface|6|29", + "Vase|surface|6|31", + "Statue|surface|6|26" + ], + "distance": 1.9825516939163208, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_27_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.445691108703613, + 0.7581897974014282, + 7.068232536315918 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 6.371782302856445 + ], + [ + 4.445691108703613, + 0.0, + 7.068232536315918 + ], + [ + 4.445691108703613, + 0.0, + 6.371782302856445 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 7.068232536315918 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 6.371782302856445 + ], + [ + 3.0713725090026855, + 0.0, + 7.068232536315918 + ], + [ + 3.0713725090026855, + 0.0, + 6.371782302856445 + ] + ], + "center": { + "x": 3.7585318088531494, + "y": 0.3790948987007141, + "z": 6.720007419586182 + }, + "size": { + "x": 1.3743185997009277, + "y": 0.7581897974014282, + "z": 0.6964502334594727 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0713722705841064, + 2.9802322387695312e-08, + 6.371781826019287 + ], + [ + 4.445691108703613, + 2.9802322387695312e-08, + 6.371781826019287 + ], + [ + 4.445691108703613, + 2.9802322387695312e-08, + 7.068233013153076 + ], + [ + 3.0713725090026855, + 2.9802322387695312e-08, + 7.068233013153076 + ], + [ + 3.0713722705841064, + 0.7581897974014282, + 6.371781826019287 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 6.371781826019287 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 7.068233013153076 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 7.068233013153076 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|6|33", + "object_info": { + "name": "Laptop|surface|6|33", + "position": { + "x": 6.23676872253418, + "y": 0.5617076754570007, + "z": 9.000263214111328 + }, + "rotation": { + "x": -1.6903852156247012e-05, + "y": 89.99998474121094, + "z": 2.414836490061134e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.1584718227386475, + "objectType": "Laptop", + "objectId": "Laptop|surface|6|33", + "assetId": "Laptop_7", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.373557090759277, + 0.8410698175430298, + 9.162751197814941 + ], + [ + 6.373557090759277, + 0.8410698175430298, + 8.837775230407715 + ], + [ + 6.373557090759277, + 0.5599809885025024, + 9.162751197814941 + ], + [ + 6.373557090759277, + 0.5599809885025024, + 8.837775230407715 + ], + [ + 6.1005964279174805, + 0.8410698175430298, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.8410698175430298, + 8.837775230407715 + ], + [ + 6.1005964279174805, + 0.5599809885025024, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.5599809885025024, + 8.837775230407715 + ] + ], + "center": { + "x": 6.237076759338379, + "y": 0.7005254030227661, + "z": 9.000263214111328 + }, + "size": { + "x": 0.2729606628417969, + "y": 0.28108882904052734, + "z": 0.32497596740722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.373556613922119, + 0.5599811673164368, + 8.837775230407715 + ], + [ + 6.373556613922119, + 0.5599810481071472, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.5599809288978577, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.5599810481071472, + 8.837775230407715 + ], + [ + 6.373556613922119, + 0.8410698175430298, + 8.837775230407715 + ], + [ + 6.373556613922119, + 0.8410696983337402, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.8410696983337402, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.8410698175430298, + 8.837775230407715 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|6|32", + "object_info": { + "name": "BaseballBat|surface|6|32", + "position": { + "x": 6.628598213195801, + "y": 0.604775071144104, + "z": 9.096939086914062 + }, + "rotation": { + "x": 90.0, + "y": 147.8082275390625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.3997159004211426, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|6|32", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.026157379150391, + 0.6494569182395935, + 9.348662376403809 + ], + [ + 7.026157379150391, + 0.6494569182395935, + 8.494242668151855 + ], + [ + 7.026157379150391, + 0.5599809288978577, + 9.348662376403809 + ], + [ + 7.026157379150391, + 0.5599809288978577, + 8.494242668151855 + ], + [ + 6.4470062255859375, + 0.6494569182395935, + 9.348662376403809 + ], + [ + 6.4470062255859375, + 0.6494569182395935, + 8.494242668151855 + ], + [ + 6.4470062255859375, + 0.5599809288978577, + 9.348662376403809 + ], + [ + 6.4470062255859375, + 0.5599809288978577, + 8.494242668151855 + ] + ], + "center": { + "x": 6.736581802368164, + "y": 0.6047189235687256, + "z": 8.921452522277832 + }, + "size": { + "x": 0.5791511535644531, + "y": 0.08947598934173584, + "z": 0.8544197082519531 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.4470062255859375, + 0.5599809885025024, + 9.305627822875977 + ], + [ + 6.515367031097412, + 0.559981107711792, + 9.348663330078125 + ], + [ + 6.515367031097412, + 0.6494569182395935, + 9.348663330078125 + ], + [ + 6.4470062255859375, + 0.6494567394256592, + 9.305627822875977 + ], + [ + 6.957796573638916, + 0.5599809288978577, + 8.494243621826172 + ], + [ + 7.026157855987549, + 0.559981107711792, + 8.53727912902832 + ], + [ + 7.026157379150391, + 0.6494568586349487, + 8.53727912902832 + ], + [ + 6.957796573638916, + 0.6494566798210144, + 8.494243621826172 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|6|27", + "object_info": { + "name": "RemoteControl|surface|6|27", + "position": { + "x": 7.35278844833374, + "y": 0.5616809725761414, + "z": 8.83760929107666 + }, + "rotation": { + "x": 359.9875793457031, + "y": 90.0035629272461, + "z": 0.01627248153090477 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.631495714187622, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|6|27", + "assetId": "Remote_1", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.460195541381836, + 0.5786544680595398, + 8.871627807617188 + ], + [ + 7.460195541381836, + 0.5786544680595398, + 8.803590774536133 + ], + [ + 7.460195541381836, + 0.5599563717842102, + 8.871627807617188 + ], + [ + 7.460195541381836, + 0.5599563717842102, + 8.803590774536133 + ], + [ + 7.244589805603027, + 0.5786544680595398, + 8.871627807617188 + ], + [ + 7.244589805603027, + 0.5786544680595398, + 8.803590774536133 + ], + [ + 7.244589805603027, + 0.5599563717842102, + 8.871627807617188 + ], + [ + 7.244589805603027, + 0.5599563717842102, + 8.803590774536133 + ] + ], + "center": { + "x": 7.352392673492432, + "y": 0.569305419921875, + "z": 8.83760929107666 + }, + "size": { + "x": 0.2156057357788086, + "y": 0.01869809627532959, + "z": 0.06803703308105469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.460191249847412, + 0.5600101351737976, + 8.80359172821045 + ], + [ + 7.460195541381836, + 0.5599908232688904, + 8.871612548828125 + ], + [ + 7.2445969581604, + 0.5599440336227417, + 8.871625900268555 + ], + [ + 7.244592666625977, + 0.5599633455276489, + 8.803605079650879 + ], + [ + 7.4601874351501465, + 0.578654408454895, + 8.803596496582031 + ], + [ + 7.460191249847412, + 0.5786350965499878, + 8.871618270874023 + ], + [ + 7.244593143463135, + 0.5785883069038391, + 8.871631622314453 + ], + [ + 7.244588851928711, + 0.5786076188087463, + 8.803610801696777 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 6.707048416137695, + "y": -0.003118574619293213, + "z": 8.83762264251709 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|2", + "RemoteControl|surface|6|27", + "Pillow|6|0|1", + "Laptop|surface|6|33", + "BasketBall|surface|6|23", + "BaseballBat|surface|6|32" + ], + "distance": 2.3772363662719727, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.614999771118164, + 0.6485362648963928, + 9.52400016784668 + ], + [ + 7.614999771118164, + 0.6485362648963928, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.0, + 9.52400016784668 + ], + [ + 7.614999771118164, + 0.0, + 8.152250289916992 + ], + [ + 5.740221977233887, + 0.6485362648963928, + 9.52400016784668 + ], + [ + 5.740221977233887, + 0.6485362648963928, + 8.152250289916992 + ], + [ + 5.740221977233887, + 0.0, + 9.52400016784668 + ], + [ + 5.740221977233887, + 0.0, + 8.152250289916992 + ] + ], + "center": { + "x": 6.677610874176025, + "y": 0.3242681324481964, + "z": 8.838125228881836 + }, + "size": { + "x": 1.8747777938842773, + "y": 0.6485362648963928, + "z": 1.3717498779296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.740222454071045, + 0.0, + 9.523999214172363 + ], + [ + 5.740222454071045, + 0.0, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.0, + 8.152251243591309 + ], + [ + 7.614999771118164, + 0.0, + 9.52400016784668 + ], + [ + 5.740222454071045, + 0.6485360860824585, + 9.523999214172363 + ], + [ + 5.740222454071045, + 0.6485360860824585, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.6485360860824585, + 8.152251243591309 + ], + [ + 7.614999771118164, + 0.6485360860824585, + 9.52400016784668 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|2", + "object_info": { + "name": "Pillow|6|0|2", + "position": { + "x": 7.182909965515137, + "y": 0.6123820543289185, + "z": 9.10469913482666 + }, + "rotation": { + "x": 6.410477908502799e-07, + "y": 270.0, + "z": 1.0869191555684665e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.7102112770080566, + "objectType": "Pillow", + "objectId": "Pillow|6|0|2", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.365000247955322, + 0.6647830009460449, + 9.316356658935547 + ], + [ + 7.365000247955322, + 0.6647830009460449, + 8.888126373291016 + ], + [ + 7.365000247955322, + 0.559981107711792, + 9.316356658935547 + ], + [ + 7.365000247955322, + 0.559981107711792, + 8.888126373291016 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 9.316356658935547 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 8.888126373291016 + ], + [ + 7.000819683074951, + 0.559981107711792, + 9.316356658935547 + ], + [ + 7.000819683074951, + 0.559981107711792, + 8.888126373291016 + ] + ], + "center": { + "x": 7.182909965515137, + "y": 0.6123820543289185, + "z": 9.102241516113281 + }, + "size": { + "x": 0.3641805648803711, + "y": 0.10480189323425293, + "z": 0.42823028564453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.000819683074951, + 0.559981107711792, + 9.316354751586914 + ], + [ + 7.000820159912109, + 0.559981107711792, + 8.8881254196167 + ], + [ + 7.365000247955322, + 0.559981107711792, + 8.8881254196167 + ], + [ + 7.364999771118164, + 0.559981107711792, + 9.316354751586914 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 9.316354751586914 + ], + [ + 7.000820159912109, + 0.6647830009460449, + 8.8881254196167 + ], + [ + 7.365000247955322, + 0.6647830009460449, + 8.8881254196167 + ], + [ + 7.364999771118164, + 0.6647830009460449, + 9.316354751586914 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|1", + "object_info": { + "name": "Pillow|6|0|1", + "position": { + "x": 7.210566997528076, + "y": 0.612382173538208, + "z": 8.566767692565918 + }, + "rotation": { + "x": 0.0007689272169955075, + "y": 265.5457458496094, + "z": -0.0005087078316137195 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.3375415802001953, + "objectType": "Pillow", + "objectId": "Pillow|6|0|1", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.408926963806152, + 0.6647865772247314, + 8.791926383972168 + ], + [ + 7.408926963806152, + 0.6647865772247314, + 8.33670711517334 + ], + [ + 7.408926963806152, + 0.5599777698516846, + 8.791926383972168 + ], + [ + 7.408926963806152, + 0.5599777698516846, + 8.33670711517334 + ], + [ + 7.0125885009765625, + 0.6647865772247314, + 8.791926383972168 + ], + [ + 7.0125885009765625, + 0.6647865772247314, + 8.33670711517334 + ], + [ + 7.0125885009765625, + 0.5599777698516846, + 8.791926383972168 + ], + [ + 7.0125885009765625, + 0.5599777698516846, + 8.33670711517334 + ] + ], + "center": { + "x": 7.210757732391357, + "y": 0.612382173538208, + "z": 8.564316749572754 + }, + "size": { + "x": 0.39633846282958984, + "y": 0.10480880737304688, + "z": 0.4552192687988281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.012589931488037, + 0.5599768757820129, + 8.763642311096191 + ], + [ + 7.045847415924072, + 0.5599806904792786, + 8.336706161499023 + ], + [ + 7.4089274406433105, + 0.5599855780601501, + 8.364989280700684 + ], + [ + 7.375669956207275, + 0.5599817633628845, + 8.791925430297852 + ], + [ + 7.0125885009765625, + 0.6647788286209106, + 8.763643264770508 + ], + [ + 7.045845985412598, + 0.6647826433181763, + 8.33670711517334 + ], + [ + 7.408926010131836, + 0.6647875308990479, + 8.364990234375 + ], + [ + 7.375668525695801, + 0.6647837162017822, + 8.791926383972168 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.5, + "y": 0.9009997844696045, + "z": 7.099999904632568 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.5, + "y": 1.5759997367858887, + "z": 7.099999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|6|2|1", + "DiningTable|6|2|0" + ], + "different_object": [ + "ArmChair|6|4|0", + "Laptop|surface|6|33", + "Pillow|6|0|2", + "RemoteControl|surface|6|27", + "BasketBall|surface|6|23", + "BaseballBat|surface|6|32", + "Bed|6|0|0", + "Pillow|6|0|1" + ] +} \ No newline at end of file diff --git a/train/train963/1/0_depth_npy.npy b/train/train963/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ab544f942fd903bd3124f7a47c41f83d52dc4bee --- /dev/null +++ b/train/train963/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5884706ed318d712cdf5e4a33081431568cec27ca51d3080d7beaca6e4e1e20 +size 3145856 diff --git a/train/train963/1/0_semantic_sensor_npy.npy b/train/train963/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..07ab33cb415125316fc3ffc7cfa3ad7f674c13e4 --- /dev/null +++ b/train/train963/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f7f943d23af36f93d58f9c49086490abe02b3618a7f941375a293b542d44d02 +size 2359424 diff --git a/train/train963/1/1.json b/train/train963/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..dd9c9275b7b70e353888363d7ce78da1b96470d7 --- /dev/null +++ b/train/train963/1/1.json @@ -0,0 +1,1097 @@ +{ + "object": [ + { + "objectId": "HousePlant|6|5|0", + "object_info": { + "name": "HousePlant|6|5|0", + "position": { + "x": 7.284267425537109, + "y": 0.00224989652633667, + "z": 6.849068641662598 + }, + "rotation": { + "x": 0.03414568677544594, + "y": 169.42636108398438, + "z": 359.93011474609375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 2.0035324096679688, + "objectType": "HousePlant", + "objectId": "HousePlant|6|5|0", + "assetId": "Houseplant_6", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.544826507568359, + 0.9848951101303101, + 7.072901725769043 + ], + [ + 7.544826507568359, + 0.9848951101303101, + 6.484259605407715 + ], + [ + 7.544826507568359, + -3.6656856536865234e-06, + 7.072901725769043 + ], + [ + 7.544826507568359, + -3.6656856536865234e-06, + 6.484259605407715 + ], + [ + 6.960222244262695, + 0.9848951101303101, + 7.072901725769043 + ], + [ + 6.960222244262695, + 0.9848951101303101, + 6.484259605407715 + ], + [ + 6.960222244262695, + -3.6656856536865234e-06, + 7.072901725769043 + ], + [ + 6.960222244262695, + -3.6656856536865234e-06, + 6.484259605407715 + ] + ], + "center": { + "x": 7.252524375915527, + "y": 0.4924457371234894, + "z": 6.778580665588379 + }, + "size": { + "x": 0.5846042633056641, + "y": 0.9848988056182861, + "z": 0.5886421203613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.0301008224487305, + -0.0005052604246884584, + 6.423199653625488 + ], + [ + 7.614997863769531, + 0.00022052042186260223, + 6.532381057739258 + ], + [ + 7.509669303894043, + 0.0005625984631478786, + 7.096634864807129 + ], + [ + 6.924772262573242, + -0.00016318238340318203, + 6.987452983856201 + ], + [ + 7.029027462005615, + 0.9846271872520447, + 6.4224019050598145 + ], + [ + 7.613924026489258, + 0.9853529334068298, + 6.531583309173584 + ], + [ + 7.5085954666137695, + 0.9856950044631958, + 7.095837116241455 + ], + [ + 6.923698902130127, + 0.9849692583084106, + 6.986655235290527 + ] + ] + } + } + }, + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 3.778594732284546, + "y": 0.0062319934368133545, + "z": 7.154724597930908 + }, + "rotation": { + "x": 0.0, + "y": 206.8677978515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": [ + "Mug|surface|6|22" + ], + "distance": 1.946223258972168, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "RoboTHOR_office_chair_jules", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.099242210388184, + 0.9418675899505615, + 7.510175704956055 + ], + [ + 4.099242210388184, + 0.9418675899505615, + 6.820583343505859 + ], + [ + 4.099242210388184, + -2.115964889526367e-06, + 7.510175704956055 + ], + [ + 4.099242210388184, + -2.115964889526367e-06, + 6.820583343505859 + ], + [ + 3.4694013595581055, + 0.9418675899505615, + 7.510175704956055 + ], + [ + 3.4694013595581055, + 0.9418675899505615, + 6.820583343505859 + ], + [ + 3.4694013595581055, + -2.115964889526367e-06, + 7.510175704956055 + ], + [ + 3.4694013595581055, + -2.115964889526367e-06, + 6.820583343505859 + ] + ], + "center": { + "x": 3.7843217849731445, + "y": 0.4709327518939972, + "z": 7.165379524230957 + }, + "size": { + "x": 0.6298408508300781, + "y": 0.9418697357177734, + "z": 0.6895923614501953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3868589401245117, + -2.0265579223632812e-06, + 7.033090114593506 + ], + [ + 3.869413375854492, + -2.0265579223632812e-06, + 6.7886176109313965 + ], + [ + 4.130183219909668, + -2.0265579223632812e-06, + 7.303339958190918 + ], + [ + 3.6476290225982666, + -2.0265579223632812e-06, + 7.5478129386901855 + ], + [ + 3.3868589401245117, + 0.941867470741272, + 7.033090114593506 + ], + [ + 3.869413375854492, + 0.941867470741272, + 6.7886176109313965 + ], + [ + 4.130183219909668, + 0.941867470741272, + 7.303339958190918 + ], + [ + 3.6476290225982666, + 0.941867470741272, + 7.5478129386901855 + ] + ] + } + } + }, + { + "objectId": "door|4|6", + "object_info": { + "name": "door|4|6", + "position": { + "x": 7.640020847320557, + "y": -0.0005959272384643555, + "z": 5.044698238372803 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.0357484817504883, + "objectType": "Doorway", + "objectId": "door|4|6", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.554952621459961, + 2.0743775367736816, + 5.11146354675293 + ], + [ + 8.554952621459961, + 2.0743775367736816, + 4.048908233642578 + ], + [ + 8.554952621459961, + 0.0, + 5.11146354675293 + ], + [ + 8.554952621459961, + 0.0, + 4.048908233642578 + ], + [ + 7.570400238037109, + 2.0743775367736816, + 5.11146354675293 + ], + [ + 7.570400238037109, + 2.0743775367736816, + 4.048908233642578 + ], + [ + 7.570400238037109, + 0.0, + 5.11146354675293 + ], + [ + 7.570400238037109, + 0.0, + 4.048908233642578 + ] + ], + "center": { + "x": 8.062676429748535, + "y": 1.0371887683868408, + "z": 4.580185890197754 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.0743775367736816, + "z": 1.0625553131103516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DeskLamp|surface|6|25", + "object_info": { + "name": "DeskLamp|surface|6|25", + "position": { + "x": 4.259214878082275, + "y": 0.7588589787483215, + "z": 6.715952396392822 + }, + "rotation": { + "x": -0.001034066895954311, + "y": 269.9998779296875, + "z": 0.0006195448222570121 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.280794620513916, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|6|25", + "assetId": "Desk_Lamp_2", + "parentReceptacles": [ + "DiningTable|6|2|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.401917457580566, + 1.1601505279541016, + 6.842345237731934 + ], + [ + 4.401917457580566, + 1.1601505279541016, + 6.587903022766113 + ], + [ + 4.401917457580566, + 0.7581872940063477, + 6.842345237731934 + ], + [ + 4.401917457580566, + 0.7581872940063477, + 6.587903022766113 + ], + [ + 4.115560531616211, + 1.1601505279541016, + 6.842345237731934 + ], + [ + 4.115560531616211, + 1.1601505279541016, + 6.587903022766113 + ], + [ + 4.115560531616211, + 0.7581872940063477, + 6.842345237731934 + ], + [ + 4.115560531616211, + 0.7581872940063477, + 6.587903022766113 + ] + ], + "center": { + "x": 4.258738994598389, + "y": 0.9591689109802246, + "z": 6.715124130249023 + }, + "size": { + "x": 0.28635692596435547, + "y": 0.4019632339477539, + "z": 0.2544422149658203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.115553855895996, + 0.7581930160522461, + 6.842348098754883 + ], + [ + 4.115554332733154, + 0.7581902742385864, + 6.5879034996032715 + ], + [ + 4.401913642883301, + 0.758185088634491, + 6.58790397644043 + ], + [ + 4.401913166046143, + 0.7581878304481506, + 6.842349052429199 + ], + [ + 4.115561485290527, + 1.1601577997207642, + 6.842343807220459 + ], + [ + 4.1155619621276855, + 1.1601550579071045, + 6.587899208068848 + ], + [ + 4.401921272277832, + 1.1601499319076538, + 6.587899684906006 + ], + [ + 4.401920795440674, + 1.1601526737213135, + 6.842344284057617 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 3.7563066482543945, + "y": -0.0002084672451019287, + "z": 6.720950603485107 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DeskLamp|surface|6|25", + "Bowl|surface|6|29", + "Vase|surface|6|31", + "Statue|surface|6|26" + ], + "distance": 1.9825516939163208, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_27_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.445691108703613, + 0.7581897974014282, + 7.068232536315918 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 6.371782302856445 + ], + [ + 4.445691108703613, + 0.0, + 7.068232536315918 + ], + [ + 4.445691108703613, + 0.0, + 6.371782302856445 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 7.068232536315918 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 6.371782302856445 + ], + [ + 3.0713725090026855, + 0.0, + 7.068232536315918 + ], + [ + 3.0713725090026855, + 0.0, + 6.371782302856445 + ] + ], + "center": { + "x": 3.7585318088531494, + "y": 0.3790948987007141, + "z": 6.720007419586182 + }, + "size": { + "x": 1.3743185997009277, + "y": 0.7581897974014282, + "z": 0.6964502334594727 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0713722705841064, + 2.9802322387695312e-08, + 6.371781826019287 + ], + [ + 4.445691108703613, + 2.9802322387695312e-08, + 6.371781826019287 + ], + [ + 4.445691108703613, + 2.9802322387695312e-08, + 7.068233013153076 + ], + [ + 3.0713725090026855, + 2.9802322387695312e-08, + 7.068233013153076 + ], + [ + 3.0713722705841064, + 0.7581897974014282, + 6.371781826019287 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 6.371781826019287 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 7.068233013153076 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 7.068233013153076 + ] + ] + } + } + }, + { + "objectId": "Box|6|3", + "object_info": { + "name": "Box|6|3", + "position": { + "x": 7.461931228637695, + "y": 1.4454126358032227e-06, + "z": 6.179110050201416 + }, + "rotation": { + "x": 0.00015093885303940624, + "y": 270.000244140625, + "z": 0.00011474984785309061 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.309725522994995, + "objectType": "Box", + "objectId": "Box|6|3", + "assetId": "DecorativeBox3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.614992141723633, + 0.19046786427497864, + 6.332635879516602 + ], + [ + 7.614992141723633, + 0.19046786427497864, + 6.025585174560547 + ], + [ + 7.614992141723633, + 8.940696716308594e-07, + 6.332635879516602 + ], + [ + 7.614992141723633, + 8.940696716308594e-07, + 6.025585174560547 + ], + [ + 7.308169364929199, + 0.19046786427497864, + 6.332635879516602 + ], + [ + 7.308169364929199, + 0.19046786427497864, + 6.025585174560547 + ], + [ + 7.308169364929199, + 8.940696716308594e-07, + 6.332635879516602 + ], + [ + 7.308169364929199, + 8.940696716308594e-07, + 6.025585174560547 + ] + ], + "center": { + "x": 7.461580753326416, + "y": 0.09523437917232513, + "z": 6.179110527038574 + }, + "size": { + "x": 0.3068227767944336, + "y": 0.190466970205307, + "z": 0.3070507049560547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.308169841766357, + 1.0796018159453524e-06, + 6.332637310028076 + ], + [ + 7.308168411254883, + 4.646486786441528e-07, + 6.025585174560547 + ], + [ + 7.614992618560791, + 1.272940380658838e-06, + 6.025583744049072 + ], + [ + 7.614994049072266, + 1.8878934042731998e-06, + 6.33263635635376 + ], + [ + 7.308169364929199, + 0.19046859443187714, + 6.332637310028076 + ], + [ + 7.308167934417725, + 0.190467968583107, + 6.025584697723389 + ], + [ + 7.614992141723633, + 0.19046877324581146, + 6.025583744049072 + ], + [ + 7.614993572235107, + 0.1904693990945816, + 6.332635879516602 + ] + ] + } + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 10.52604866027832, + "y": -0.003118574619293213, + "z": 2.6203718185424805 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|4|9", + "Book|surface|4|10", + "RemoteControl|surface|4|1", + "Pillow|surface|4|4", + "BaseballBat|surface|4|5" + ], + "distance": 6.727535724639893, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.434000015258789, + 0.6485362648963928, + 3.3067493438720703 + ], + [ + 11.434000015258789, + 0.6485362648963928, + 1.934999942779541 + ], + [ + 11.434000015258789, + 0.0, + 3.3067493438720703 + ], + [ + 11.434000015258789, + 0.0, + 1.934999942779541 + ], + [ + 9.559223175048828, + 0.6485362648963928, + 3.3067493438720703 + ], + [ + 9.559223175048828, + 0.6485362648963928, + 1.934999942779541 + ], + [ + 9.559223175048828, + 0.0, + 3.3067493438720703 + ], + [ + 9.559223175048828, + 0.0, + 1.934999942779541 + ] + ], + "center": { + "x": 10.496611595153809, + "y": 0.3242681324481964, + "z": 2.6208746433258057 + }, + "size": { + "x": 1.874776840209961, + "y": 0.6485362648963928, + "z": 1.3717494010925293 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.559223175048828, + 0.0, + 3.306748867034912 + ], + [ + 9.559223175048828, + 0.0, + 1.934999942779541 + ], + [ + 11.434000015258789, + 0.0, + 1.9350001811981201 + ], + [ + 11.434000015258789, + 0.0, + 3.306749105453491 + ], + [ + 9.559223175048828, + 0.6485360860824585, + 3.306748867034912 + ], + [ + 9.559223175048828, + 0.6485360860824585, + 1.934999942779541 + ], + [ + 11.434000015258789, + 0.6485360860824585, + 1.9350001811981201 + ], + [ + 11.434000015258789, + 0.6485360860824585, + 3.306749105453491 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.5, + "y": 0.9009997844696045, + "z": 7.199999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.5, + "y": 1.5759997367858887, + "z": 7.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|6|2|1", + "DiningTable|6|2|0" + ], + "different_object": [ + "Bed|4|0", + "door|4|6", + "Box|6|3", + "HousePlant|6|5|0", + "DeskLamp|surface|6|25" + ] +} \ No newline at end of file diff --git a/train/train963/1/1_depth_npy.npy b/train/train963/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f1dab2a28edf7a081dbad504beeeab01ea386dea --- /dev/null +++ b/train/train963/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eddbe85971bef77a1b92ba7f573c682a7bb81111741dae1e43137c1072bbef60 +size 3145856 diff --git a/train/train963/1/1_semantic_sensor_npy.npy b/train/train963/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7b5719a249a76ccf8e95b8a5b88871fce4b901c9 --- /dev/null +++ b/train/train963/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb81d2ed17c9198994293e9049326f580130805c730fd23c496a8191f1d86dd1 +size 2359424 diff --git a/train/train963/1/depth_0.png b/train/train963/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..47621b81fd349534cfd49d7f4aa6bbd5ff3e8291 Binary files /dev/null and b/train/train963/1/depth_0.png differ diff --git a/train/train963/1/depth_1.png b/train/train963/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..474eca38f97436e4791c140e2c23ae532d75888d Binary files /dev/null and b/train/train963/1/depth_1.png differ diff --git a/train/train963/1/mask_questions.jsonl b/train/train963/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train963/1/rgb_0.png b/train/train963/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d304dcaabda8e008197611870e5c0300d9f3ee67 --- /dev/null +++ b/train/train963/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bdd17d1d7138081aed51c189415e32103903188cb48c10ff76d48dcdf40839a +size 686878 diff --git a/train/train963/1/rgb_1.png b/train/train963/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fe11076f42469c15765cdd0d4506051a73b109c8 --- /dev/null +++ b/train/train963/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b299700928d13120474d81133f66f76bf59c8c58ec130dd536f17eb5c875c99d +size 554763 diff --git a/train/train963/1/semantic_0.png b/train/train963/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3dc64e764eb904d262e29c051d058e602ad4cc78 Binary files /dev/null and b/train/train963/1/semantic_0.png differ diff --git a/train/train963/1/semantic_1.png b/train/train963/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..40448b7c7c030cda76877fe57f25205c998103fc Binary files /dev/null and b/train/train963/1/semantic_1.png differ diff --git a/train/train963/2/0.json b/train/train963/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f5465e0132de0e2ff42cdc4d47ee9c291598267b --- /dev/null +++ b/train/train963/2/0.json @@ -0,0 +1,1681 @@ +{ + "object": [ + { + "objectId": "HousePlant|6|5|0", + "object_info": { + "name": "HousePlant|6|5|0", + "position": { + "x": 7.284267425537109, + "y": 0.00224989652633667, + "z": 6.849068641662598 + }, + "rotation": { + "x": 0.03414568677544594, + "y": 169.42636108398438, + "z": 359.93011474609375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 2.0035324096679688, + "objectType": "HousePlant", + "objectId": "HousePlant|6|5|0", + "assetId": "Houseplant_6", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.544826507568359, + 0.9848951101303101, + 7.072901725769043 + ], + [ + 7.544826507568359, + 0.9848951101303101, + 6.484259605407715 + ], + [ + 7.544826507568359, + -3.6656856536865234e-06, + 7.072901725769043 + ], + [ + 7.544826507568359, + -3.6656856536865234e-06, + 6.484259605407715 + ], + [ + 6.960222244262695, + 0.9848951101303101, + 7.072901725769043 + ], + [ + 6.960222244262695, + 0.9848951101303101, + 6.484259605407715 + ], + [ + 6.960222244262695, + -3.6656856536865234e-06, + 7.072901725769043 + ], + [ + 6.960222244262695, + -3.6656856536865234e-06, + 6.484259605407715 + ] + ], + "center": { + "x": 7.252524375915527, + "y": 0.4924457371234894, + "z": 6.778580665588379 + }, + "size": { + "x": 0.5846042633056641, + "y": 0.9848988056182861, + "z": 0.5886421203613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.0301008224487305, + -0.0005052604246884584, + 6.423199653625488 + ], + [ + 7.614997863769531, + 0.00022052042186260223, + 6.532381057739258 + ], + [ + 7.509669303894043, + 0.0005625984631478786, + 7.096634864807129 + ], + [ + 6.924772262573242, + -0.00016318238340318203, + 6.987452983856201 + ], + [ + 7.029027462005615, + 0.9846271872520447, + 6.4224019050598145 + ], + [ + 7.613924026489258, + 0.9853529334068298, + 6.531583309173584 + ], + [ + 7.5085954666137695, + 0.9856950044631958, + 7.095837116241455 + ], + [ + 6.923698902130127, + 0.9849692583084106, + 6.986655235290527 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|10", + "object_info": { + "name": "Book|surface|4|10", + "position": { + "x": 10.055768966674805, + "y": 0.5591837763786316, + "z": 2.2950937747955322 + }, + "rotation": { + "x": 359.9919738769531, + "y": 90.00006866455078, + "z": 0.07181638479232788 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 6.55804967880249, + "objectType": "Book", + "objectId": "Book|surface|4|10", + "assetId": "Book_1", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.220199584960938, + 0.6210670471191406, + 2.506470203399658 + ], + [ + 10.220199584960938, + 0.6210670471191406, + 2.080653667449951 + ], + [ + 10.220199584960938, + 0.5594532489776611, + 2.506470203399658 + ], + [ + 10.220199584960938, + 0.5594532489776611, + 2.080653667449951 + ], + [ + 9.89133071899414, + 0.6210670471191406, + 2.506470203399658 + ], + [ + 9.89133071899414, + 0.6210670471191406, + 2.080653667449951 + ], + [ + 9.89133071899414, + 0.5594532489776611, + 2.506470203399658 + ], + [ + 9.89133071899414, + 0.5594532489776611, + 2.080653667449951 + ] + ], + "center": { + "x": 10.055765151977539, + "y": 0.5902601480484009, + "z": 2.2935619354248047 + }, + "size": { + "x": 0.3288688659667969, + "y": 0.06161379814147949, + "z": 0.42581653594970703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.220197677612305, + 0.560028076171875, + 2.0806539058685303 + ], + [ + 10.220197677612305, + 0.5594944357872009, + 2.506394386291504 + ], + [ + 9.891340255737305, + 0.5594484806060791, + 2.506394863128662 + ], + [ + 9.891340255737305, + 0.5599820613861084, + 2.0806541442871094 + ], + [ + 10.220189094543457, + 0.6210713386535645, + 2.080730438232422 + ], + [ + 10.220190048217773, + 0.6205376982688904, + 2.5064709186553955 + ], + [ + 9.891331672668457, + 0.6204916834831238, + 2.5064713954925537 + ], + [ + 9.891331672668457, + 0.6210253238677979, + 2.080730676651001 + ] + ] + } + } + }, + { + "objectId": "door|4|6", + "object_info": { + "name": "door|4|6", + "position": { + "x": 7.640020847320557, + "y": -0.0005959272384643555, + "z": 5.044698238372803 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.0357484817504883, + "objectType": "Doorway", + "objectId": "door|4|6", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.554952621459961, + 2.0743775367736816, + 5.11146354675293 + ], + [ + 8.554952621459961, + 2.0743775367736816, + 4.048908233642578 + ], + [ + 8.554952621459961, + 0.0, + 5.11146354675293 + ], + [ + 8.554952621459961, + 0.0, + 4.048908233642578 + ], + [ + 7.570400238037109, + 2.0743775367736816, + 5.11146354675293 + ], + [ + 7.570400238037109, + 2.0743775367736816, + 4.048908233642578 + ], + [ + 7.570400238037109, + 0.0, + 5.11146354675293 + ], + [ + 7.570400238037109, + 0.0, + 4.048908233642578 + ] + ], + "center": { + "x": 8.062676429748535, + "y": 1.0371887683868408, + "z": 4.580185890197754 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.0743775367736816, + "z": 1.0625553131103516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|8", + "object_info": { + "name": "Painting|6|8", + "position": { + "x": 7.63500452041626, + "y": 2.046259641647339, + "z": 7.069447994232178 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.4237754344940186, + "objectType": "Painting", + "objectId": "Painting|6|8", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.635000228881836, + 2.3695855140686035, + 7.530652046203613 + ], + [ + 7.635000228881836, + 2.3695855140686035, + 6.608243942260742 + ], + [ + 7.635000228881836, + 1.7229337692260742, + 7.530652046203613 + ], + [ + 7.635000228881836, + 1.7229337692260742, + 6.608243942260742 + ], + [ + 7.603259086608887, + 2.3695855140686035, + 7.530652046203613 + ], + [ + 7.603259086608887, + 2.3695855140686035, + 6.608243942260742 + ], + [ + 7.603259086608887, + 1.7229337692260742, + 7.530652046203613 + ], + [ + 7.603259086608887, + 1.7229337692260742, + 6.608243942260742 + ] + ], + "center": { + "x": 7.619129657745361, + "y": 2.046259641647339, + "z": 7.069447994232178 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.6466517448425293, + "z": 0.9224081039428711 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Box|6|3", + "object_info": { + "name": "Box|6|3", + "position": { + "x": 7.461931228637695, + "y": 1.4454126358032227e-06, + "z": 6.179110050201416 + }, + "rotation": { + "x": 0.00015093885303940624, + "y": 270.000244140625, + "z": 0.00011474984785309061 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.309725522994995, + "objectType": "Box", + "objectId": "Box|6|3", + "assetId": "DecorativeBox3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.614992141723633, + 0.19046786427497864, + 6.332635879516602 + ], + [ + 7.614992141723633, + 0.19046786427497864, + 6.025585174560547 + ], + [ + 7.614992141723633, + 8.940696716308594e-07, + 6.332635879516602 + ], + [ + 7.614992141723633, + 8.940696716308594e-07, + 6.025585174560547 + ], + [ + 7.308169364929199, + 0.19046786427497864, + 6.332635879516602 + ], + [ + 7.308169364929199, + 0.19046786427497864, + 6.025585174560547 + ], + [ + 7.308169364929199, + 8.940696716308594e-07, + 6.332635879516602 + ], + [ + 7.308169364929199, + 8.940696716308594e-07, + 6.025585174560547 + ] + ], + "center": { + "x": 7.461580753326416, + "y": 0.09523437917232513, + "z": 6.179110527038574 + }, + "size": { + "x": 0.3068227767944336, + "y": 0.190466970205307, + "z": 0.3070507049560547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.308169841766357, + 1.0796018159453524e-06, + 6.332637310028076 + ], + [ + 7.308168411254883, + 4.646486786441528e-07, + 6.025585174560547 + ], + [ + 7.614992618560791, + 1.272940380658838e-06, + 6.025583744049072 + ], + [ + 7.614994049072266, + 1.8878934042731998e-06, + 6.33263635635376 + ], + [ + 7.308169364929199, + 0.19046859443187714, + 6.332637310028076 + ], + [ + 7.308167934417725, + 0.190467968583107, + 6.025584697723389 + ], + [ + 7.614992141723633, + 0.19046877324581146, + 6.025583744049072 + ], + [ + 7.614993572235107, + 0.1904693990945816, + 6.332635879516602 + ] + ] + } + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 10.52604866027832, + "y": -0.003118574619293213, + "z": 2.6203718185424805 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|4|9", + "Book|surface|4|10", + "RemoteControl|surface|4|1", + "Pillow|surface|4|4", + "BaseballBat|surface|4|5" + ], + "distance": 6.727535724639893, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.434000015258789, + 0.6485362648963928, + 3.3067493438720703 + ], + [ + 11.434000015258789, + 0.6485362648963928, + 1.934999942779541 + ], + [ + 11.434000015258789, + 0.0, + 3.3067493438720703 + ], + [ + 11.434000015258789, + 0.0, + 1.934999942779541 + ], + [ + 9.559223175048828, + 0.6485362648963928, + 3.3067493438720703 + ], + [ + 9.559223175048828, + 0.6485362648963928, + 1.934999942779541 + ], + [ + 9.559223175048828, + 0.0, + 3.3067493438720703 + ], + [ + 9.559223175048828, + 0.0, + 1.934999942779541 + ] + ], + "center": { + "x": 10.496611595153809, + "y": 0.3242681324481964, + "z": 2.6208746433258057 + }, + "size": { + "x": 1.874776840209961, + "y": 0.6485362648963928, + "z": 1.3717494010925293 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.559223175048828, + 0.0, + 3.306748867034912 + ], + [ + 9.559223175048828, + 0.0, + 1.934999942779541 + ], + [ + 11.434000015258789, + 0.0, + 1.9350001811981201 + ], + [ + 11.434000015258789, + 0.0, + 3.306749105453491 + ], + [ + 9.559223175048828, + 0.6485360860824585, + 3.306748867034912 + ], + [ + 9.559223175048828, + 0.6485360860824585, + 1.934999942779541 + ], + [ + 11.434000015258789, + 0.6485360860824585, + 1.9350001811981201 + ], + [ + 11.434000015258789, + 0.6485360860824585, + 3.306749105453491 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|6|32", + "object_info": { + "name": "BaseballBat|surface|6|32", + "position": { + "x": 6.628598213195801, + "y": 0.604775071144104, + "z": 9.096939086914062 + }, + "rotation": { + "x": 90.0, + "y": 147.8082275390625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.3997159004211426, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|6|32", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.026157379150391, + 0.6494569182395935, + 9.348662376403809 + ], + [ + 7.026157379150391, + 0.6494569182395935, + 8.494242668151855 + ], + [ + 7.026157379150391, + 0.5599809288978577, + 9.348662376403809 + ], + [ + 7.026157379150391, + 0.5599809288978577, + 8.494242668151855 + ], + [ + 6.4470062255859375, + 0.6494569182395935, + 9.348662376403809 + ], + [ + 6.4470062255859375, + 0.6494569182395935, + 8.494242668151855 + ], + [ + 6.4470062255859375, + 0.5599809288978577, + 9.348662376403809 + ], + [ + 6.4470062255859375, + 0.5599809288978577, + 8.494242668151855 + ] + ], + "center": { + "x": 6.736581802368164, + "y": 0.6047189235687256, + "z": 8.921452522277832 + }, + "size": { + "x": 0.5791511535644531, + "y": 0.08947598934173584, + "z": 0.8544197082519531 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.4470062255859375, + 0.5599809885025024, + 9.305627822875977 + ], + [ + 6.515367031097412, + 0.559981107711792, + 9.348663330078125 + ], + [ + 6.515367031097412, + 0.6494569182395935, + 9.348663330078125 + ], + [ + 6.4470062255859375, + 0.6494567394256592, + 9.305627822875977 + ], + [ + 6.957796573638916, + 0.5599809288978577, + 8.494243621826172 + ], + [ + 7.026157855987549, + 0.559981107711792, + 8.53727912902832 + ], + [ + 7.026157379150391, + 0.6494568586349487, + 8.53727912902832 + ], + [ + 6.957796573638916, + 0.6494566798210144, + 8.494243621826172 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|6|27", + "object_info": { + "name": "RemoteControl|surface|6|27", + "position": { + "x": 7.35278844833374, + "y": 0.5616809725761414, + "z": 8.83760929107666 + }, + "rotation": { + "x": 359.9875793457031, + "y": 90.0035629272461, + "z": 0.01627248153090477 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.631495714187622, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|6|27", + "assetId": "Remote_1", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.460195541381836, + 0.5786544680595398, + 8.871627807617188 + ], + [ + 7.460195541381836, + 0.5786544680595398, + 8.803590774536133 + ], + [ + 7.460195541381836, + 0.5599563717842102, + 8.871627807617188 + ], + [ + 7.460195541381836, + 0.5599563717842102, + 8.803590774536133 + ], + [ + 7.244589805603027, + 0.5786544680595398, + 8.871627807617188 + ], + [ + 7.244589805603027, + 0.5786544680595398, + 8.803590774536133 + ], + [ + 7.244589805603027, + 0.5599563717842102, + 8.871627807617188 + ], + [ + 7.244589805603027, + 0.5599563717842102, + 8.803590774536133 + ] + ], + "center": { + "x": 7.352392673492432, + "y": 0.569305419921875, + "z": 8.83760929107666 + }, + "size": { + "x": 0.2156057357788086, + "y": 0.01869809627532959, + "z": 0.06803703308105469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.460191249847412, + 0.5600101351737976, + 8.80359172821045 + ], + [ + 7.460195541381836, + 0.5599908232688904, + 8.871612548828125 + ], + [ + 7.2445969581604, + 0.5599440336227417, + 8.871625900268555 + ], + [ + 7.244592666625977, + 0.5599633455276489, + 8.803605079650879 + ], + [ + 7.4601874351501465, + 0.578654408454895, + 8.803596496582031 + ], + [ + 7.460191249847412, + 0.5786350965499878, + 8.871618270874023 + ], + [ + 7.244593143463135, + 0.5785883069038391, + 8.871631622314453 + ], + [ + 7.244588851928711, + 0.5786076188087463, + 8.803610801696777 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 6.707048416137695, + "y": -0.003118574619293213, + "z": 8.83762264251709 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|2", + "RemoteControl|surface|6|27", + "Pillow|6|0|1", + "Laptop|surface|6|33", + "BasketBall|surface|6|23", + "BaseballBat|surface|6|32" + ], + "distance": 2.3772363662719727, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.614999771118164, + 0.6485362648963928, + 9.52400016784668 + ], + [ + 7.614999771118164, + 0.6485362648963928, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.0, + 9.52400016784668 + ], + [ + 7.614999771118164, + 0.0, + 8.152250289916992 + ], + [ + 5.740221977233887, + 0.6485362648963928, + 9.52400016784668 + ], + [ + 5.740221977233887, + 0.6485362648963928, + 8.152250289916992 + ], + [ + 5.740221977233887, + 0.0, + 9.52400016784668 + ], + [ + 5.740221977233887, + 0.0, + 8.152250289916992 + ] + ], + "center": { + "x": 6.677610874176025, + "y": 0.3242681324481964, + "z": 8.838125228881836 + }, + "size": { + "x": 1.8747777938842773, + "y": 0.6485362648963928, + "z": 1.3717498779296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.740222454071045, + 0.0, + 9.523999214172363 + ], + [ + 5.740222454071045, + 0.0, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.0, + 8.152251243591309 + ], + [ + 7.614999771118164, + 0.0, + 9.52400016784668 + ], + [ + 5.740222454071045, + 0.6485360860824585, + 9.523999214172363 + ], + [ + 5.740222454071045, + 0.6485360860824585, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.6485360860824585, + 8.152251243591309 + ], + [ + 7.614999771118164, + 0.6485360860824585, + 9.52400016784668 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|2", + "object_info": { + "name": "Pillow|6|0|2", + "position": { + "x": 7.182909965515137, + "y": 0.6123820543289185, + "z": 9.10469913482666 + }, + "rotation": { + "x": 6.410477908502799e-07, + "y": 270.0, + "z": 1.0869191555684665e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.7102112770080566, + "objectType": "Pillow", + "objectId": "Pillow|6|0|2", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.365000247955322, + 0.6647830009460449, + 9.316356658935547 + ], + [ + 7.365000247955322, + 0.6647830009460449, + 8.888126373291016 + ], + [ + 7.365000247955322, + 0.559981107711792, + 9.316356658935547 + ], + [ + 7.365000247955322, + 0.559981107711792, + 8.888126373291016 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 9.316356658935547 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 8.888126373291016 + ], + [ + 7.000819683074951, + 0.559981107711792, + 9.316356658935547 + ], + [ + 7.000819683074951, + 0.559981107711792, + 8.888126373291016 + ] + ], + "center": { + "x": 7.182909965515137, + "y": 0.6123820543289185, + "z": 9.102241516113281 + }, + "size": { + "x": 0.3641805648803711, + "y": 0.10480189323425293, + "z": 0.42823028564453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.000819683074951, + 0.559981107711792, + 9.316354751586914 + ], + [ + 7.000820159912109, + 0.559981107711792, + 8.8881254196167 + ], + [ + 7.365000247955322, + 0.559981107711792, + 8.8881254196167 + ], + [ + 7.364999771118164, + 0.559981107711792, + 9.316354751586914 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 9.316354751586914 + ], + [ + 7.000820159912109, + 0.6647830009460449, + 8.8881254196167 + ], + [ + 7.365000247955322, + 0.6647830009460449, + 8.8881254196167 + ], + [ + 7.364999771118164, + 0.6647830009460449, + 9.316354751586914 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|1", + "object_info": { + "name": "Pillow|6|0|1", + "position": { + "x": 7.210566997528076, + "y": 0.612382173538208, + "z": 8.566767692565918 + }, + "rotation": { + "x": 0.0007689272169955075, + "y": 265.5457458496094, + "z": -0.0005087078316137195 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.3375415802001953, + "objectType": "Pillow", + "objectId": "Pillow|6|0|1", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.408926963806152, + 0.6647865772247314, + 8.791926383972168 + ], + [ + 7.408926963806152, + 0.6647865772247314, + 8.33670711517334 + ], + [ + 7.408926963806152, + 0.5599777698516846, + 8.791926383972168 + ], + [ + 7.408926963806152, + 0.5599777698516846, + 8.33670711517334 + ], + [ + 7.0125885009765625, + 0.6647865772247314, + 8.791926383972168 + ], + [ + 7.0125885009765625, + 0.6647865772247314, + 8.33670711517334 + ], + [ + 7.0125885009765625, + 0.5599777698516846, + 8.791926383972168 + ], + [ + 7.0125885009765625, + 0.5599777698516846, + 8.33670711517334 + ] + ], + "center": { + "x": 7.210757732391357, + "y": 0.612382173538208, + "z": 8.564316749572754 + }, + "size": { + "x": 0.39633846282958984, + "y": 0.10480880737304688, + "z": 0.4552192687988281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.012589931488037, + 0.5599768757820129, + 8.763642311096191 + ], + [ + 7.045847415924072, + 0.5599806904792786, + 8.336706161499023 + ], + [ + 7.4089274406433105, + 0.5599855780601501, + 8.364989280700684 + ], + [ + 7.375669956207275, + 0.5599817633628845, + 8.791925430297852 + ], + [ + 7.0125885009765625, + 0.6647788286209106, + 8.763643264770508 + ], + [ + 7.045845985412598, + 0.6647826433181763, + 8.33670711517334 + ], + [ + 7.408926010131836, + 0.6647875308990479, + 8.364990234375 + ], + [ + 7.375668525695801, + 0.6647837162017822, + 8.791926383972168 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.699999809265137, + "y": 0.9009997844696045, + "z": 7.199999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.699999809265137, + "y": 1.5759997367858887, + "z": 7.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pillow|6|0|2", + "RemoteControl|surface|6|27", + "BaseballBat|surface|6|32", + "Bed|6|0|0", + "Pillow|6|0|1" + ], + "different_object": [ + "Book|surface|4|10", + "Bed|4|0", + "door|4|6", + "Box|6|3", + "HousePlant|6|5|0", + "Painting|6|8" + ] +} \ No newline at end of file diff --git a/train/train963/2/0_depth_npy.npy b/train/train963/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b5931d8834ad94a3ae22baa2f04309dee6d4f9d8 --- /dev/null +++ b/train/train963/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22863e9c24445f43b65f1a078ce98d7a6c46e4d9250164759f8e471ed54c6d20 +size 3145856 diff --git a/train/train963/2/0_semantic_sensor_npy.npy b/train/train963/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f1a4f581d238b2821c6101be43a262d33f5524a6 --- /dev/null +++ b/train/train963/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f19a1db3144097280e88d678a88807648e853903113badbe3d76be812322727 +size 2359424 diff --git a/train/train963/2/1.json b/train/train963/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..5a7eeaa75b2da3d8ffc05b3a7fc0de28222b0fb0 --- /dev/null +++ b/train/train963/2/1.json @@ -0,0 +1,1620 @@ +{ + "object": [ + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 3.778594732284546, + "y": 0.0062319934368133545, + "z": 7.154724597930908 + }, + "rotation": { + "x": 0.0, + "y": 206.8677978515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": [ + "Mug|surface|6|22" + ], + "distance": 1.946223258972168, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "RoboTHOR_office_chair_jules", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.099242210388184, + 0.9418675899505615, + 7.510175704956055 + ], + [ + 4.099242210388184, + 0.9418675899505615, + 6.820583343505859 + ], + [ + 4.099242210388184, + -2.115964889526367e-06, + 7.510175704956055 + ], + [ + 4.099242210388184, + -2.115964889526367e-06, + 6.820583343505859 + ], + [ + 3.4694013595581055, + 0.9418675899505615, + 7.510175704956055 + ], + [ + 3.4694013595581055, + 0.9418675899505615, + 6.820583343505859 + ], + [ + 3.4694013595581055, + -2.115964889526367e-06, + 7.510175704956055 + ], + [ + 3.4694013595581055, + -2.115964889526367e-06, + 6.820583343505859 + ] + ], + "center": { + "x": 3.7843217849731445, + "y": 0.4709327518939972, + "z": 7.165379524230957 + }, + "size": { + "x": 0.6298408508300781, + "y": 0.9418697357177734, + "z": 0.6895923614501953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3868589401245117, + -2.0265579223632812e-06, + 7.033090114593506 + ], + [ + 3.869413375854492, + -2.0265579223632812e-06, + 6.7886176109313965 + ], + [ + 4.130183219909668, + -2.0265579223632812e-06, + 7.303339958190918 + ], + [ + 3.6476290225982666, + -2.0265579223632812e-06, + 7.5478129386901855 + ], + [ + 3.3868589401245117, + 0.941867470741272, + 7.033090114593506 + ], + [ + 3.869413375854492, + 0.941867470741272, + 6.7886176109313965 + ], + [ + 4.130183219909668, + 0.941867470741272, + 7.303339958190918 + ], + [ + 3.6476290225982666, + 0.941867470741272, + 7.5478129386901855 + ] + ] + } + } + }, + { + "objectId": "ArmChair|6|4|0", + "object_info": { + "name": "ArmChair|6|4|0", + "position": { + "x": 3.245194911956787, + "y": 0.007798701524734497, + "z": 9.070305824279785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "KeyChain|surface|6|24" + ], + "distance": 3.188749074935913, + "objectType": "ArmChair", + "objectId": "ArmChair|6|4|0", + "assetId": "Armchair_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.6781840324401855, + 0.8204643130302429, + 9.524011611938477 + ], + [ + 3.6781840324401855, + 0.8204643130302429, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 6.079673767089844e-06, + 9.524011611938477 + ], + [ + 3.6781840324401855, + 6.079673767089844e-06, + 8.616594314575195 + ], + [ + 2.8122057914733887, + 0.8204643130302429, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 0.8204643130302429, + 8.616594314575195 + ], + [ + 2.8122057914733887, + 6.079673767089844e-06, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 6.079673767089844e-06, + 8.616594314575195 + ] + ], + "center": { + "x": 3.245194911956787, + "y": 0.410235196352005, + "z": 9.070302963256836 + }, + "size": { + "x": 0.8659782409667969, + "y": 0.8204582333564758, + "z": 0.9074172973632812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.8122057914733887, + 6.22868537902832e-06, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 6.22868537902832e-06, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 6.22868537902832e-06, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 6.22868537902832e-06, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 0.820464015007019, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 0.820464015007019, + 8.616594314575195 + ], + [ + 3.6781840324401855, + 0.820464015007019, + 9.524011611938477 + ], + [ + 2.8122057914733887, + 0.820464015007019, + 9.524011611938477 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|6|23", + "object_info": { + "name": "BasketBall|surface|6|23", + "position": { + "x": 6.236769199371338, + "y": 0.6796680688858032, + "z": 9.325542449951172 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 2.4494824409484863, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|6|23", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.356456279754639, + 0.799355149269104, + 9.445229530334473 + ], + [ + 6.356456279754639, + 0.799355149269104, + 9.205855369567871 + ], + [ + 6.356456279754639, + 0.5599809885025024, + 9.445229530334473 + ], + [ + 6.356456279754639, + 0.5599809885025024, + 9.205855369567871 + ], + [ + 6.117082118988037, + 0.799355149269104, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.799355149269104, + 9.205855369567871 + ], + [ + 6.117082118988037, + 0.5599809885025024, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.5599809885025024, + 9.205855369567871 + ] + ], + "center": { + "x": 6.236769199371338, + "y": 0.6796680688858032, + "z": 9.325542449951172 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937416076660156, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.356456279754639, + 0.5599809885025024, + 9.205855369567871 + ], + [ + 6.356456279754639, + 0.5599809885025024, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.5599809885025024, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.5599809885025024, + 9.205855369567871 + ], + [ + 6.356456279754639, + 0.799355149269104, + 9.205855369567871 + ], + [ + 6.356456279754639, + 0.799355149269104, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.799355149269104, + 9.445229530334473 + ], + [ + 6.117082118988037, + 0.799355149269104, + 9.205855369567871 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 3.7563066482543945, + "y": -0.0002084672451019287, + "z": 6.720950603485107 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DeskLamp|surface|6|25", + "Bowl|surface|6|29", + "Vase|surface|6|31", + "Statue|surface|6|26" + ], + "distance": 1.9825516939163208, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_27_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.445691108703613, + 0.7581897974014282, + 7.068232536315918 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 6.371782302856445 + ], + [ + 4.445691108703613, + 0.0, + 7.068232536315918 + ], + [ + 4.445691108703613, + 0.0, + 6.371782302856445 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 7.068232536315918 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 6.371782302856445 + ], + [ + 3.0713725090026855, + 0.0, + 7.068232536315918 + ], + [ + 3.0713725090026855, + 0.0, + 6.371782302856445 + ] + ], + "center": { + "x": 3.7585318088531494, + "y": 0.3790948987007141, + "z": 6.720007419586182 + }, + "size": { + "x": 1.3743185997009277, + "y": 0.7581897974014282, + "z": 0.6964502334594727 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0713722705841064, + 2.9802322387695312e-08, + 6.371781826019287 + ], + [ + 4.445691108703613, + 2.9802322387695312e-08, + 6.371781826019287 + ], + [ + 4.445691108703613, + 2.9802322387695312e-08, + 7.068233013153076 + ], + [ + 3.0713725090026855, + 2.9802322387695312e-08, + 7.068233013153076 + ], + [ + 3.0713722705841064, + 0.7581897974014282, + 6.371781826019287 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 6.371781826019287 + ], + [ + 4.445691108703613, + 0.7581897974014282, + 7.068233013153076 + ], + [ + 3.0713725090026855, + 0.7581897974014282, + 7.068233013153076 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|6|33", + "object_info": { + "name": "Laptop|surface|6|33", + "position": { + "x": 6.23676872253418, + "y": 0.5617076754570007, + "z": 9.000263214111328 + }, + "rotation": { + "x": -1.6903852156247012e-05, + "y": 89.99998474121094, + "z": 2.414836490061134e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.1584718227386475, + "objectType": "Laptop", + "objectId": "Laptop|surface|6|33", + "assetId": "Laptop_7", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.373557090759277, + 0.8410698175430298, + 9.162751197814941 + ], + [ + 6.373557090759277, + 0.8410698175430298, + 8.837775230407715 + ], + [ + 6.373557090759277, + 0.5599809885025024, + 9.162751197814941 + ], + [ + 6.373557090759277, + 0.5599809885025024, + 8.837775230407715 + ], + [ + 6.1005964279174805, + 0.8410698175430298, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.8410698175430298, + 8.837775230407715 + ], + [ + 6.1005964279174805, + 0.5599809885025024, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.5599809885025024, + 8.837775230407715 + ] + ], + "center": { + "x": 6.237076759338379, + "y": 0.7005254030227661, + "z": 9.000263214111328 + }, + "size": { + "x": 0.2729606628417969, + "y": 0.28108882904052734, + "z": 0.32497596740722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.373556613922119, + 0.5599811673164368, + 8.837775230407715 + ], + [ + 6.373556613922119, + 0.5599810481071472, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.5599809288978577, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.5599810481071472, + 8.837775230407715 + ], + [ + 6.373556613922119, + 0.8410698175430298, + 8.837775230407715 + ], + [ + 6.373556613922119, + 0.8410696983337402, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.8410696983337402, + 9.162751197814941 + ], + [ + 6.1005964279174805, + 0.8410698175430298, + 8.837775230407715 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|6|32", + "object_info": { + "name": "BaseballBat|surface|6|32", + "position": { + "x": 6.628598213195801, + "y": 0.604775071144104, + "z": 9.096939086914062 + }, + "rotation": { + "x": 90.0, + "y": 147.8082275390625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.3997159004211426, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|6|32", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.026157379150391, + 0.6494569182395935, + 9.348662376403809 + ], + [ + 7.026157379150391, + 0.6494569182395935, + 8.494242668151855 + ], + [ + 7.026157379150391, + 0.5599809288978577, + 9.348662376403809 + ], + [ + 7.026157379150391, + 0.5599809288978577, + 8.494242668151855 + ], + [ + 6.4470062255859375, + 0.6494569182395935, + 9.348662376403809 + ], + [ + 6.4470062255859375, + 0.6494569182395935, + 8.494242668151855 + ], + [ + 6.4470062255859375, + 0.5599809288978577, + 9.348662376403809 + ], + [ + 6.4470062255859375, + 0.5599809288978577, + 8.494242668151855 + ] + ], + "center": { + "x": 6.736581802368164, + "y": 0.6047189235687256, + "z": 8.921452522277832 + }, + "size": { + "x": 0.5791511535644531, + "y": 0.08947598934173584, + "z": 0.8544197082519531 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.4470062255859375, + 0.5599809885025024, + 9.305627822875977 + ], + [ + 6.515367031097412, + 0.559981107711792, + 9.348663330078125 + ], + [ + 6.515367031097412, + 0.6494569182395935, + 9.348663330078125 + ], + [ + 6.4470062255859375, + 0.6494567394256592, + 9.305627822875977 + ], + [ + 6.957796573638916, + 0.5599809288978577, + 8.494243621826172 + ], + [ + 7.026157855987549, + 0.559981107711792, + 8.53727912902832 + ], + [ + 7.026157379150391, + 0.6494568586349487, + 8.53727912902832 + ], + [ + 6.957796573638916, + 0.6494566798210144, + 8.494243621826172 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|6|27", + "object_info": { + "name": "RemoteControl|surface|6|27", + "position": { + "x": 7.35278844833374, + "y": 0.5616809725761414, + "z": 8.83760929107666 + }, + "rotation": { + "x": 359.9875793457031, + "y": 90.0035629272461, + "z": 0.01627248153090477 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.631495714187622, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|6|27", + "assetId": "Remote_1", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.460195541381836, + 0.5786544680595398, + 8.871627807617188 + ], + [ + 7.460195541381836, + 0.5786544680595398, + 8.803590774536133 + ], + [ + 7.460195541381836, + 0.5599563717842102, + 8.871627807617188 + ], + [ + 7.460195541381836, + 0.5599563717842102, + 8.803590774536133 + ], + [ + 7.244589805603027, + 0.5786544680595398, + 8.871627807617188 + ], + [ + 7.244589805603027, + 0.5786544680595398, + 8.803590774536133 + ], + [ + 7.244589805603027, + 0.5599563717842102, + 8.871627807617188 + ], + [ + 7.244589805603027, + 0.5599563717842102, + 8.803590774536133 + ] + ], + "center": { + "x": 7.352392673492432, + "y": 0.569305419921875, + "z": 8.83760929107666 + }, + "size": { + "x": 0.2156057357788086, + "y": 0.01869809627532959, + "z": 0.06803703308105469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.460191249847412, + 0.5600101351737976, + 8.80359172821045 + ], + [ + 7.460195541381836, + 0.5599908232688904, + 8.871612548828125 + ], + [ + 7.2445969581604, + 0.5599440336227417, + 8.871625900268555 + ], + [ + 7.244592666625977, + 0.5599633455276489, + 8.803605079650879 + ], + [ + 7.4601874351501465, + 0.578654408454895, + 8.803596496582031 + ], + [ + 7.460191249847412, + 0.5786350965499878, + 8.871618270874023 + ], + [ + 7.244593143463135, + 0.5785883069038391, + 8.871631622314453 + ], + [ + 7.244588851928711, + 0.5786076188087463, + 8.803610801696777 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 6.707048416137695, + "y": -0.003118574619293213, + "z": 8.83762264251709 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|2", + "RemoteControl|surface|6|27", + "Pillow|6|0|1", + "Laptop|surface|6|33", + "BasketBall|surface|6|23", + "BaseballBat|surface|6|32" + ], + "distance": 2.3772363662719727, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.614999771118164, + 0.6485362648963928, + 9.52400016784668 + ], + [ + 7.614999771118164, + 0.6485362648963928, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.0, + 9.52400016784668 + ], + [ + 7.614999771118164, + 0.0, + 8.152250289916992 + ], + [ + 5.740221977233887, + 0.6485362648963928, + 9.52400016784668 + ], + [ + 5.740221977233887, + 0.6485362648963928, + 8.152250289916992 + ], + [ + 5.740221977233887, + 0.0, + 9.52400016784668 + ], + [ + 5.740221977233887, + 0.0, + 8.152250289916992 + ] + ], + "center": { + "x": 6.677610874176025, + "y": 0.3242681324481964, + "z": 8.838125228881836 + }, + "size": { + "x": 1.8747777938842773, + "y": 0.6485362648963928, + "z": 1.3717498779296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.740222454071045, + 0.0, + 9.523999214172363 + ], + [ + 5.740222454071045, + 0.0, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.0, + 8.152251243591309 + ], + [ + 7.614999771118164, + 0.0, + 9.52400016784668 + ], + [ + 5.740222454071045, + 0.6485360860824585, + 9.523999214172363 + ], + [ + 5.740222454071045, + 0.6485360860824585, + 8.152250289916992 + ], + [ + 7.614999771118164, + 0.6485360860824585, + 8.152251243591309 + ], + [ + 7.614999771118164, + 0.6485360860824585, + 9.52400016784668 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|2", + "object_info": { + "name": "Pillow|6|0|2", + "position": { + "x": 7.182909965515137, + "y": 0.6123820543289185, + "z": 9.10469913482666 + }, + "rotation": { + "x": 6.410477908502799e-07, + "y": 270.0, + "z": 1.0869191555684665e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.7102112770080566, + "objectType": "Pillow", + "objectId": "Pillow|6|0|2", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.365000247955322, + 0.6647830009460449, + 9.316356658935547 + ], + [ + 7.365000247955322, + 0.6647830009460449, + 8.888126373291016 + ], + [ + 7.365000247955322, + 0.559981107711792, + 9.316356658935547 + ], + [ + 7.365000247955322, + 0.559981107711792, + 8.888126373291016 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 9.316356658935547 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 8.888126373291016 + ], + [ + 7.000819683074951, + 0.559981107711792, + 9.316356658935547 + ], + [ + 7.000819683074951, + 0.559981107711792, + 8.888126373291016 + ] + ], + "center": { + "x": 7.182909965515137, + "y": 0.6123820543289185, + "z": 9.102241516113281 + }, + "size": { + "x": 0.3641805648803711, + "y": 0.10480189323425293, + "z": 0.42823028564453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.000819683074951, + 0.559981107711792, + 9.316354751586914 + ], + [ + 7.000820159912109, + 0.559981107711792, + 8.8881254196167 + ], + [ + 7.365000247955322, + 0.559981107711792, + 8.8881254196167 + ], + [ + 7.364999771118164, + 0.559981107711792, + 9.316354751586914 + ], + [ + 7.000819683074951, + 0.6647830009460449, + 9.316354751586914 + ], + [ + 7.000820159912109, + 0.6647830009460449, + 8.8881254196167 + ], + [ + 7.365000247955322, + 0.6647830009460449, + 8.8881254196167 + ], + [ + 7.364999771118164, + 0.6647830009460449, + 9.316354751586914 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|1", + "object_info": { + "name": "Pillow|6|0|1", + "position": { + "x": 7.210566997528076, + "y": 0.612382173538208, + "z": 8.566767692565918 + }, + "rotation": { + "x": 0.0007689272169955075, + "y": 265.5457458496094, + "z": -0.0005087078316137195 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.3375415802001953, + "objectType": "Pillow", + "objectId": "Pillow|6|0|1", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.408926963806152, + 0.6647865772247314, + 8.791926383972168 + ], + [ + 7.408926963806152, + 0.6647865772247314, + 8.33670711517334 + ], + [ + 7.408926963806152, + 0.5599777698516846, + 8.791926383972168 + ], + [ + 7.408926963806152, + 0.5599777698516846, + 8.33670711517334 + ], + [ + 7.0125885009765625, + 0.6647865772247314, + 8.791926383972168 + ], + [ + 7.0125885009765625, + 0.6647865772247314, + 8.33670711517334 + ], + [ + 7.0125885009765625, + 0.5599777698516846, + 8.791926383972168 + ], + [ + 7.0125885009765625, + 0.5599777698516846, + 8.33670711517334 + ] + ], + "center": { + "x": 7.210757732391357, + "y": 0.612382173538208, + "z": 8.564316749572754 + }, + "size": { + "x": 0.39633846282958984, + "y": 0.10480880737304688, + "z": 0.4552192687988281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.012589931488037, + 0.5599768757820129, + 8.763642311096191 + ], + [ + 7.045847415924072, + 0.5599806904792786, + 8.336706161499023 + ], + [ + 7.4089274406433105, + 0.5599855780601501, + 8.364989280700684 + ], + [ + 7.375669956207275, + 0.5599817633628845, + 8.791925430297852 + ], + [ + 7.0125885009765625, + 0.6647788286209106, + 8.763643264770508 + ], + [ + 7.045845985412598, + 0.6647826433181763, + 8.33670711517334 + ], + [ + 7.408926010131836, + 0.6647875308990479, + 8.364990234375 + ], + [ + 7.375668525695801, + 0.6647837162017822, + 8.791926383972168 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.599999904632568, + "y": 0.9009997844696045, + "z": 7.199999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.599999904632568, + "y": 1.5759997367858887, + "z": 7.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pillow|6|0|2", + "RemoteControl|surface|6|27", + "BaseballBat|surface|6|32", + "Bed|6|0|0", + "Pillow|6|0|1" + ], + "different_object": [ + "ArmChair|6|4|0", + "Laptop|surface|6|33", + "Chair|6|2|1", + "BasketBall|surface|6|23", + "DiningTable|6|2|0" + ] +} \ No newline at end of file diff --git a/train/train963/2/1_depth_npy.npy b/train/train963/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b606d547972816a7869f60bc925877c67bc4784f --- /dev/null +++ b/train/train963/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6db720755bf36659ec028aafb1acde4ea6ff55b5a0f84663d931bc0ba6faae8 +size 3145856 diff --git a/train/train963/2/1_semantic_sensor_npy.npy b/train/train963/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b077ef78546ea7b64f1e1d2aae59553965558967 --- /dev/null +++ b/train/train963/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7df88d41bc8761dfe06d9f01fda8a8cfd6053532793d8b6fde91eb1b2ba48c84 +size 2359424 diff --git a/train/train963/2/depth_0.png b/train/train963/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cece05a9beee8d75d3931e61137882c06a5806cf Binary files /dev/null and b/train/train963/2/depth_0.png differ diff --git a/train/train963/2/depth_1.png b/train/train963/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9c2ea63d47283b81ff992c60c432f7de85d0c6f6 Binary files /dev/null and b/train/train963/2/depth_1.png differ diff --git a/train/train963/2/mask_questions.jsonl b/train/train963/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train963/2/rgb_0.png b/train/train963/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ff85aa64d94677d378980581c5d1edc7ad1eaefc --- /dev/null +++ b/train/train963/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37a93293cf0def613261829095c2b7d54fa93990c63e30a1fb4642498162f04d +size 460197 diff --git a/train/train963/2/rgb_1.png b/train/train963/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7610719f7c47e1623e4923165b4f467daa1465ba --- /dev/null +++ b/train/train963/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4ea8938333a3dfdec26b1354bd438979268d55959e7049eb24112062eeb7a7 +size 676645 diff --git a/train/train963/2/semantic_0.png b/train/train963/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8dbed719dc889db66bba1c3905778e26e365543b Binary files /dev/null and b/train/train963/2/semantic_0.png differ diff --git a/train/train963/2/semantic_1.png b/train/train963/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..49b735145d283530ada6526d873ae903716edd9f Binary files /dev/null and b/train/train963/2/semantic_1.png differ diff --git a/train/train963/3/0.json b/train/train963/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train963/3/0.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train963/3/0_depth_npy.npy b/train/train963/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train963/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train963/3/0_semantic_sensor_npy.npy b/train/train963/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train963/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train963/3/1.json b/train/train963/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train963/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train963/3/1_depth_npy.npy b/train/train963/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train963/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train963/3/1_semantic_sensor_npy.npy b/train/train963/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train963/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train963/3/depth_0.png b/train/train963/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train963/3/depth_0.png differ diff --git a/train/train963/3/depth_1.png b/train/train963/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train963/3/depth_1.png differ diff --git a/train/train963/3/mask_questions.jsonl b/train/train963/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train963/3/questions_direction.jsonl b/train/train963/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a3fc19ca9a2617e5245c4e3bd5dc839911857cb --- /dev/null +++ b/train/train963/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 15194, "folder_dir": "train963/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train963/3/rgb_0.png", "image_2": "train963/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15195, "folder_dir": "train963/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train963/3/rgb_0.png", "image_2": "train963/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15196, "folder_dir": "train963/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train963/3/rgb_0.png", "image_2": "train963/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15197, "folder_dir": "train963/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train963/3/rgb_1.png", "image_2": "train963/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15198, "folder_dir": "train963/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train963/3/rgb_1.png", "image_2": "train963/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 15199, "folder_dir": "train963/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train963/3/rgb_1.png", "image_2": "train963/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train963/3/rgb_0.png b/train/train963/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..77e03bb217115bce1b62cc6099fa671a854c825d --- /dev/null +++ b/train/train963/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f96d4a4a4b47fea1ad31ba4b43f2aa7f1568be4be64b940bea230b323c2772eb +size 193723 diff --git a/train/train963/3/rgb_1.png b/train/train963/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..956dd0b62497ac45fe0ada06b72caaf7cae5dbda --- /dev/null +++ b/train/train963/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7912eae44c8ba90f03d5c08de9b09767d8d6948d9127a27673e553d4f1f3c233 +size 244091 diff --git a/train/train963/3/semantic_0.png b/train/train963/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train963/3/semantic_0.png differ diff --git a/train/train963/3/semantic_1.png b/train/train963/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train963/3/semantic_1.png differ diff --git a/train/train963/4/0.json b/train/train963/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train963/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train963/4/0_depth_npy.npy b/train/train963/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train963/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train963/4/0_semantic_sensor_npy.npy b/train/train963/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train963/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train963/4/1.json b/train/train963/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train963/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train963/4/1_depth_npy.npy b/train/train963/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train963/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train963/4/1_semantic_sensor_npy.npy b/train/train963/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train963/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train963/4/depth_0.png b/train/train963/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train963/4/depth_0.png differ diff --git a/train/train963/4/depth_1.png b/train/train963/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train963/4/depth_1.png differ diff --git a/train/train963/4/mask_questions.jsonl b/train/train963/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train963/4/rgb_0.png b/train/train963/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8bb2443fcfe4f992c0aea64d4c51b074d8cf5859 --- /dev/null +++ b/train/train963/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80a5a2efa3a69f7b8f5fc6911e600d4c1425d73c3ec9528e08cc05d04655772a +size 242109 diff --git a/train/train963/4/rgb_1.png b/train/train963/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..615f578498e2cc7351a74e831f32062003fd577e --- /dev/null +++ b/train/train963/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:640827b942508aa2cef4b502771a81419db6ccfa3b80c570bf544bf1b50cd751 +size 198482 diff --git a/train/train963/4/semantic_0.png b/train/train963/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train963/4/semantic_0.png differ diff --git a/train/train963/4/semantic_1.png b/train/train963/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train963/4/semantic_1.png differ diff --git a/train/train963/color_to_object_id.json b/train/train963/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train963/color_to_object_id.json @@ -0,0 +1,1990 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|5|1": [ + 130, + 218, + 61 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Painting|3|7": [ + 179, + 232, + 3 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|2|4": [ + 168, + 73, + 214 + ] + }, + { + "Painting|2|3": [ + 50, + 126, + 53 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|6|6": [ + 102, + 53, + 26 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TissueBox|surface|6|54": [ + 199, + 91, + 170 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TissueBox|surface|6|53": [ + 18, + 46, + 133 + ] + }, + { + "CellPhone|surface|6|51": [ + 62, + 155, + 115 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CellPhone|surface|6|50": [ + 120, + 22, + 133 + ] + }, + { + "CreditCard|surface|6|42": [ + 65, + 44, + 75 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Book|surface|6|41": [ + 24, + 39, + 127 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Desk|6|5": [ + 13, + 75, + 159 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "GarbageCan|6|4": [ + 117, + 43, + 87 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Laptop|surface|6|58": [ + 87, + 35, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|6|55": [ + 207, + 105, + 146 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DeskLamp|surface|6|49": [ + 87, + 127, + 133 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Pencil|surface|6|43": [ + 151, + 33, + 115 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Box|6|2": [ + 241, + 14, + 186 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|57": [ + 171, + 21, + 4 + ] + }, + { + "CellPhone|surface|6|56": [ + 93, + 9, + 109 + ] + }, + { + "Vase|surface|6|52": [ + 234, + 96, + 199 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|6|48": [ + 152, + 13, + 237 + ] + }, + { + "Book|surface|6|46": [ + 119, + 227, + 245 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "AlarmClock|surface|6|39": [ + 103, + 142, + 66 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "TennisRacket|surface|6|47": [ + 9, + 170, + 110 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "RemoteControl|surface|6|44": [ + 172, + 50, + 175 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|6|40": [ + 18, + 8, + 167 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|5|4": [ + 191, + 61, + 36 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Safe|5|3": [ + 218, + 86, + 222 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Chair|5|2|4": [ + 99, + 174, + 176 + ] + }, + { + "Chair|5|2|3": [ + 210, + 165, + 135 + ] + }, + { + "Chair|5|2|2": [ + 11, + 225, + 10 + ] + }, + { + "Chair|5|2|1": [ + 142, + 232, + 13 + ] + }, + { + "Box|surface|5|37": [ + 248, + 37, + 196 + ] + }, + { + "Book|surface|5|36": [ + 51, + 144, + 225 + ] + }, + { + "Bowl|surface|5|33": [ + 250, + 216, + 98 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|5|32": [ + 182, + 235, + 89 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CreditCard|surface|5|31": [ + 94, + 66, + 93 + ] + }, + { + "RemoteControl|surface|5|27": [ + 228, + 21, + 152 + ] + }, + { + "DiningTable|5|2|0": [ + 25, + 135, + 226 + ] + }, + { + "Statue|surface|5|35": [ + 251, + 136, + 129 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "KeyChain|surface|5|34": [ + 39, + 237, + 149 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Vase|surface|5|30": [ + 116, + 90, + 102 + ] + }, + { + "Dresser|5|1___3": [ + 186, + 175, + 115 + ] + }, + { + "Dresser|5|1___2": [ + 193, + 31, + 77 + ] + }, + { + "Dresser|5|1___1": [ + 36, + 223, + 213 + ] + }, + { + "Dresser|5|1___0": [ + 42, + 182, + 193 + ] + }, + { + "Dresser|5|1": [ + 169, + 211, + 43 + ] + }, + { + "Pillow|surface|5|38": [ + 228, + 139, + 78 + ] + }, + { + "TeddyBear|surface|5|29": [ + 54, + 196, + 238 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "BaseballBat|surface|5|28": [ + 16, + 86, + 117 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "CellPhone|surface|4|17": [ + 37, + 199, + 23 + ] + }, + { + "Watch|surface|4|16": [ + 121, + 179, + 101 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Dresser|4|3___2": [ + 142, + 213, + 34 + ] + }, + { + "Dresser|4|3___1": [ + 22, + 100, + 55 + ] + }, + { + "Dresser|4|3___0": [ + 89, + 128, + 115 + ] + }, + { + "Dresser|4|3": [ + 92, + 22, + 49 + ] + }, + { + "FloorLamp|4|2": [ + 147, + 82, + 148 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Chair|4|1|4": [ + 78, + 48, + 24 + ] + }, + { + "Chair|4|1|3": [ + 178, + 87, + 59 + ] + }, + { + "Chair|4|1|2": [ + 59, + 92, + 140 + ] + }, + { + "Chair|4|1|1": [ + 23, + 202, + 17 + ] + }, + { + "Book|surface|4|26": [ + 74, + 176, + 203 + ] + }, + { + "Laptop|surface|4|23": [ + 120, + 244, + 89 + ] + }, + { + "DiningTable|4|1|0": [ + 52, + 59, + 190 + ] + }, + { + "Pen|surface|4|25": [ + 235, + 7, + 211 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|4|24": [ + 46, + 194, + 144 + ] + }, + { + "Book|surface|4|22": [ + 5, + 182, + 176 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Watch|surface|4|20": [ + 188, + 102, + 63 + ] + }, + { + "Plate|surface|4|19": [ + 220, + 118, + 245 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "KeyChain|surface|4|18": [ + 205, + 237, + 105 + ] + }, + { + "CellPhone|surface|4|15": [ + 51, + 24, + 157 + ] + }, + { + "Bowl|surface|4|14": [ + 4, + 235, + 91 + ] + }, + { + "Television|4|0|1": [ + 253, + 56, + 77 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|13": [ + 132, + 5, + 103 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|3|12": [ + 189, + 127, + 230 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|3|11": [ + 247, + 134, + 56 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "SoapBar|surface|3|10": [ + 160, + 203, + 144 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Potato|surface|2|7": [ + 254, + 188, + 49 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Tomato|surface|2|5": [ + 113, + 164, + 212 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Fork|surface|2|8": [ + 163, + 143, + 225 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Lettuce|surface|2|6": [ + 24, + 82, + 141 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "CreditCard|surface|2|4": [ + 169, + 235, + 99 + ] + }, + { + "Bread|surface|2|3": [ + 138, + 234, + 188 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "SoapBottle|surface|2|2": [ + 193, + 220, + 166 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Spoon|surface|2|1": [ + 230, + 162, + 137 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|0": [ + 246, + 90, + 73 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.741107|0": [ + 163, + 54, + 94 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.741107|0": [ + 166, + 161, + 114 + ] + }, + { + "Ceiling_room|4|0|3.741107|0": [ + 141, + 19, + 191 + ] + }, + { + "Ceiling_room|3|0|3.741107|0": [ + 235, + 57, + 190 + ] + }, + { + "Ceiling_room|2|0|3.741107|0": [ + 185, + 150, + 191 + ] + }, + { + "wall|exterior|11.45|0.00|11.45|6.54": [ + 105, + 148, + 102 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|9.81|0.00|11.45|0.00": [ + 84, + 206, + 179 + ] + }, + { + "wall|exterior|6.54|0.00|9.81|0.00": [ + 35, + 75, + 103 + ] + }, + { + "wall|exterior|3.27|0.00|6.54|0.00": [ + 155, + 107, + 176 + ] + }, + { + "wall|exterior|11.45|6.54|11.45|9.81": [ + 128, + 47, + 83 + ] + }, + { + "wall|exterior|3.27|8.18|3.27|9.81": [ + 70, + 211, + 178 + ] + }, + { + "wall|exterior|3.27|9.81|11.45|9.81": [ + 82, + 164, + 57 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.18": [ + 159, + 85, + 79 + ] + }, + { + "wall|exterior|0.00|8.18|3.27|8.18": [ + 147, + 254, + 245 + ] + }, + { + "wall|exterior|0.00|0.00|3.27|0.00": [ + 30, + 177, + 113 + ] + }, + { + "wall|6|3.27|6.54|6.54|6.54": [ + 243, + 41, + 235 + ] + }, + { + "wall|6|6.54|6.54|9.81|6.54": [ + 70, + 213, + 98 + ] + }, + { + "wall|6|9.81|6.54|11.45|6.54": [ + 241, + 121, + 234 + ] + }, + { + "wall|6|11.45|6.54|11.45|9.81": [ + 210, + 210, + 66 + ] + }, + { + "wall|6|3.27|9.81|11.45|9.81": [ + 3, + 255, + 68 + ] + }, + { + "wall|6|3.27|8.18|3.27|9.81": [ + 138, + 30, + 179 + ] + }, + { + "wall|6|3.27|6.54|3.27|8.18": [ + 26, + 227, + 98 + ] + }, + { + "wall|5|0.00|0.00|3.27|0.00": [ + 182, + 72, + 67 + ] + }, + { + "wall|5|3.27|0.00|3.27|6.54": [ + 210, + 68, + 18 + ] + }, + { + "wall|5|3.27|6.54|3.27|8.18": [ + 89, + 2, + 212 + ] + }, + { + "wall|5|0.00|8.18|3.27|8.18": [ + 196, + 4, + 46 + ] + }, + { + "wall|5|0.00|0.00|0.00|8.18": [ + 135, + 33, + 165 + ] + }, + { + "wall|4|3.27|0.00|6.54|0.00": [ + 47, + 211, + 89 + ] + }, + { + "wall|4|6.54|0.00|6.54|6.54": [ + 238, + 82, + 51 + ] + }, + { + "wall|4|3.27|6.54|6.54|6.54": [ + 1, + 45, + 36 + ] + }, + { + "wall|4|3.27|0.00|3.27|6.54": [ + 81, + 111, + 114 + ] + }, + { + "wall|3|9.81|0.00|11.45|0.00": [ + 88, + 132, + 56 + ] + }, + { + "wall|3|11.45|0.00|11.45|6.54": [ + 75, + 188, + 218 + ] + }, + { + "wall|3|9.81|6.54|11.45|6.54": [ + 46, + 214, + 38 + ] + }, + { + "wall|3|9.81|0.00|9.81|6.54": [ + 204, + 98, + 202 + ] + }, + { + "wall|2|6.54|0.00|9.81|0.00": [ + 220, + 158, + 111 + ] + }, + { + "wall|2|9.81|0.00|9.81|6.54": [ + 177, + 121, + 70 + ] + }, + { + "wall|2|6.54|6.54|9.81|6.54": [ + 253, + 102, + 240 + ] + }, + { + "wall|2|6.54|0.00|6.54|6.54": [ + 181, + 45, + 190 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train963/top_down_image.png b/train/train963/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..25e243f9f40af21f5141926db8a55c678d9e85d7 --- /dev/null +++ b/train/train963/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e381e09bc1e357bffa531fd062a4dd0aef919554f66e3a94b45baf2d7f5425a1 +size 261802