diff --git a/.gitattributes b/.gitattributes index d599deb858f70007ebb64a4e7ff5a76f467d6069..b6860d2ce262b26e0e82ea8ecd92e3ebeb3664ef 100644 --- a/.gitattributes +++ b/.gitattributes @@ -38529,3 +38529,264 @@ train/FloorPlan408/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text train/FloorPlan408/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text train/FloorPlan408/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text train/FloorPlan408/4/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/rgb_1_mask_Faucet|+00.27|+00.67|+00.94.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/rgb_0_mask_Faucet|+00.27|+00.67|+00.94.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/7/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/0/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/0/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/rgb_0_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/1/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/rgb_1_mask_ToiletPaper|-01.00|+01.03|+00.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/6/rgb_0_mask_ToiletPaper|-01.00|+01.03|+00.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/rgb_0_mask_Mirror|-02.31|+01.53|+01.00.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/rgb_1_mask_Bathtub|+00.29|+00.29|-00.08.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/11/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/10/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/10/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/10/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/10/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/10/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/10/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/10/rgb_1_mask_Cabinet|-01.50|+00.42|+00.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/10/rgb_0_mask_Cabinet|-01.50|+00.42|+00.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/5/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/8/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/8/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/8/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/8/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/8/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/8/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/8/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/2/rgb_0_mask_Faucet|-02.68|+01.02|+00.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/rgb_1_mask_Sink|-01.92|+00.93|+00.68.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan408/12/rgb_1_mask_Cloth|-01.18|+01.04|+00.90.png filter=lfs diff=lfs merge=lfs -text +train/train950/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train950/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train950/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train950/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train950/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train950/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train950/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train950/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train950/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train950/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train950/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train950/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train950/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train950/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train950/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/2/rgb_0_mask_Box|surface|5|37.png filter=lfs diff=lfs merge=lfs -text +train/train950/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train950/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/2/rgb_0_mask_DogBed|5|4.png filter=lfs diff=lfs merge=lfs -text +train/train950/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train950/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1243/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1243/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/3/rgb_0_mask_Painting|2|5.png filter=lfs diff=lfs merge=lfs -text +train/train1243/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1243/3/rgb_1_mask_Painting|2|5.png filter=lfs diff=lfs merge=lfs -text +train/train1243/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1243/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/4/rgb_0_mask_Sofa|3|2.png filter=lfs diff=lfs merge=lfs -text +train/train1243/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1243/4/rgb_1_mask_Sofa|3|2.png filter=lfs diff=lfs merge=lfs -text +train/train1243/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1243/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1243/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1243/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/1/rgb_0_mask_Sofa|3|2.png filter=lfs diff=lfs merge=lfs -text +train/train1243/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1243/1/rgb_1_mask_Sofa|3|2.png filter=lfs diff=lfs merge=lfs -text +train/train1243/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1243/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1243/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/3/rgb_1_mask_Painting|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1708/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1708/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/3/rgb_0_mask_Painting|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1708/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/4/rgb_1_mask_Painting|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1708/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1708/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/4/rgb_0_mask_Painting|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1708/4/rgb_0_mask_CounterTop|6|0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/0/rgb_1_mask_window|7|0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/0/rgb_0_mask_window|7|0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1708/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/0/rgb_0_mask_GarbageCan|7|2.png filter=lfs diff=lfs merge=lfs -text +train/train1708/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/1/rgb_1_mask_Painting|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1708/1/rgb_0_mask_Toaster|surface|6|13.png filter=lfs diff=lfs merge=lfs -text +train/train1708/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1708/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/1/rgb_0_mask_Painting|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1708/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/2/rgb_0_mask_DogBed|7|4.png filter=lfs diff=lfs merge=lfs -text +train/train1708/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1708/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/2/rgb_0_mask_GarbageCan|7|2.png filter=lfs diff=lfs merge=lfs -text +train/train1708/2/rgb_1_mask_DogBed|7|4.png filter=lfs diff=lfs merge=lfs -text +train/train1708/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1708/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1708/2/rgb_1_mask_GarbageCan|7|2.png filter=lfs diff=lfs merge=lfs -text +train/train1708/2/rgb_0_mask_Sofa|7|1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/3/rgb_0_mask_Television|2|0|1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/3/rgb_1_mask_window|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/3/rgb_0_mask_window|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1340/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1340/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1340/1/rgb_1_mask_Television|2|0|1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/1/rgb_0_mask_ArmChair|2|4|0.png filter=lfs diff=lfs merge=lfs -text +train/train1340/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/1/rgb_1_mask_ArmChair|2|4|0.png filter=lfs diff=lfs merge=lfs -text +train/train1340/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1340/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/2/rgb_0_mask_ArmChair|2|4|0.png filter=lfs diff=lfs merge=lfs -text +train/train1340/2/rgb_0_mask_Television|2|0|1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/2/rgb_0_mask_window|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train1340/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1340/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text diff --git a/train/FloorPlan408/0/0.json b/train/FloorPlan408/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..b8a73b0016fda8f8b78f4577ca8005ea46b8e9f0 --- /dev/null +++ b/train/FloorPlan408/0/0.json @@ -0,0 +1,2510 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -2.299999952316284, + "y": 0.902047336101532, + "z": 0.09999999403953552 + }, + "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": -2.299999952316284, + "y": 1.577047348022461, + "z": 0.09999999403953552 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.49|+01.37|+00.90", + "Faucet|+00.27|+00.67|+00.94", + "ToiletPaper|-01.00|+01.03|+00.92", + "ScrubBrush|-00.49|+00.00|+00.87", + "ToiletPaper|-00.87|+01.04|+00.95", + "TowelHolder|-00.49|+01.35|+01.01", + "Toilet|-01.05|+00.00|+00.55", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "Cloth|-01.18|+01.04|+00.90", + "Bathtub|+00.29|+00.29|-00.08" + ], + "different_object": [ + "Faucet|-02.68|+01.02|+00.89", + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "SoapBottle|-01.53|+00.95|+00.91", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-01.92|+00.93|+00.68" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/0/0_depth_npy.npy b/train/FloorPlan408/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7c6fb1cf1d20a1ee134d00c1497967e6768e2cf1 --- /dev/null +++ b/train/FloorPlan408/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3f255c2c0a78778b7eab4479cf756d188afc7755104ba8b41bc645b2e7c37d5 +size 3145856 diff --git a/train/FloorPlan408/0/0_semantic_sensor_npy.npy b/train/FloorPlan408/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..119ade671e7f5170f0636e37060bcee8396881b3 --- /dev/null +++ b/train/FloorPlan408/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c813c724fa037bbc5ad5d8bf217752cd7c7f9ed20d23cd696bd22f1bf930ed7e +size 2359424 diff --git a/train/FloorPlan408/0/1.json b/train/FloorPlan408/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..37a337aae08248c1e930f4004dec4c78b3392e8d --- /dev/null +++ b/train/FloorPlan408/0/1.json @@ -0,0 +1,1950 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "object_info": { + "name": "ShowerCurtain_9ca066ad", + "position": { + "x": -0.20999999344348907, + "y": 1.9098000526428223, + "z": -1.0338000059127808 + }, + "rotation": { + "x": -0.0, + "y": 270.0001220703125, + "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": 1.7939140796661377, + "objectType": "ShowerCurtain", + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "assetId": "Shower_Curtain_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08", + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10969603061676025, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -1.0350613594055176 + ] + ], + "center": { + "x": -0.2964516878128052, + "y": 0.987040638923645, + "z": -0.818053126335144 + }, + "size": { + "x": 0.37351131439208984, + "y": 1.9377357959747314, + "z": 0.43401646614074707 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "object_info": { + "name": "BathtubBasin_45501309", + "position": { + "x": 0.3497999906539917, + "y": 0.02399998903274536, + "z": -0.13500000536441803 + }, + "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": [], + "distance": 2.0542521476745605, + "objectType": "BathtubBasin", + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6311837434768677, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + -1.020472764968872 + ] + ], + "center": { + "x": 0.34708428382873535, + "y": 0.2314356118440628, + "z": -0.0953139066696167 + }, + "size": { + "x": 0.5681989192962646, + "y": 0.4175412654876709, + "z": 1.8503177165985107 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.902047336101532, + "z": -0.800000011920929 + }, + "agent_rotation": { + "x": -0.0, + "y": 64.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.5, + "y": 1.577047348022461, + "z": -0.800000011920929 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.49|+01.37|+00.90", + "Faucet|+00.27|+00.67|+00.94", + "ToiletPaper|-01.00|+01.03|+00.92", + "ScrubBrush|-00.49|+00.00|+00.87", + "ToiletPaper|-00.87|+01.04|+00.95", + "TowelHolder|-00.49|+01.35|+01.01", + "Toilet|-01.05|+00.00|+00.55", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "Cloth|-01.18|+01.04|+00.90", + "Bathtub|+00.29|+00.29|-00.08" + ], + "different_object": [ + "ShowerCurtain|-00.21|+01.91|-01.03", + "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "Plunger|-00.71|+00.00|+00.83" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/0/1_depth_npy.npy b/train/FloorPlan408/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4b2d5c8b17a809255cb522153f8bf755b785777a --- /dev/null +++ b/train/FloorPlan408/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d39ed96c0676cae0411e6bb78ae92ce0513edb3f216d962ea3bdf968d3b71008 +size 3145856 diff --git a/train/FloorPlan408/0/1_semantic_sensor_npy.npy b/train/FloorPlan408/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..79e4201eb8dda875f4d1b1e484b82f76beb38a9c --- /dev/null +++ b/train/FloorPlan408/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0936dc3e745da652f1bd9924f4c648af69c495fc841f7ace960d9a979688646 +size 2359424 diff --git a/train/FloorPlan408/0/depth_0.png b/train/FloorPlan408/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5889a15d3cc6e3493767e461d6b78555e3689f80 Binary files /dev/null and b/train/FloorPlan408/0/depth_0.png differ diff --git a/train/FloorPlan408/0/depth_1.png b/train/FloorPlan408/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..68caafb77e506d050f9122798028d7f19ce3383d Binary files /dev/null and b/train/FloorPlan408/0/depth_1.png differ diff --git a/train/FloorPlan408/0/mask_questions.jsonl b/train/FloorPlan408/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d22fe17988984488a165e990c8b99ffc4339508 --- /dev/null +++ b/train/FloorPlan408/0/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 8149, "folder_dir": "FloorPlan408/0", "pair_name": "0-1:Towel|-00.49|+01.37|+00.90", "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. Faucet\nC. Sink\nD. Towel", "answer": "D", "object_name": "Towel", "image_1": "FloorPlan408/0/rgb_0.png", "image_2": "FloorPlan408/0/rgb_1.png", "mask_image": "FloorPlan408/0/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png", "options": ["CounterTop", "Faucet", "Sink", "Towel"]} +{"id": 8150, "folder_dir": "FloorPlan408/0", "pair_name": "1-0:Towel|-00.49|+01.37|+00.90", "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. Towel\nC. ShowerCurtain\nD. BathtubBasin", "answer": "B", "object_name": "Towel", "image_1": "FloorPlan408/0/rgb_1.png", "image_2": "FloorPlan408/0/rgb_0.png", "mask_image": "FloorPlan408/0/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png", "options": ["Faucet", "Towel", "ShowerCurtain", "BathtubBasin"]} diff --git a/train/FloorPlan408/0/questions_distance.jsonl b/train/FloorPlan408/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3925e81f35142045fec0fff0cdeca01f6813c2d --- /dev/null +++ b/train/FloorPlan408/0/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 2472, "folder_dir": "FloorPlan408/0", "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. Plunger\nB. Cloth\nC. ScrubBrush\nD. Other\n", "answer": "A", "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": "Plunger", "semantic_id": "Plunger|-00.71|+00.00|+00.83", "distance": 0.5124429560793059, "com": {"x": -0.7109901905059814, "y": 0.27071699500083923, "z": 0.8281076550483704}}, {"text": "Cloth", "semantic_id": "Cloth|-01.18|+01.04|+00.90", "distance": 0.6704274199172804, "com": {"x": -1.1760236024856567, "y": 1.066142201423645, "z": 0.9056588411331177}}, {"text": "ScrubBrush", "semantic_id": "ScrubBrush|-00.49|+00.00|+00.87", "distance": 0.7168089444891276, "com": {"x": -0.48509740829467773, "y": 0.2392423152923584, "z": 0.8739112019538879}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/0/rgb_0.png", "image_2": "FloorPlan408/0/rgb_1.png"} diff --git a/train/FloorPlan408/0/rgb_0.png b/train/FloorPlan408/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..42732a9e1b6a7cc54a3a8a844150a63702151c4a --- /dev/null +++ b/train/FloorPlan408/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5808d59d60895d5c96640d2d73773333474e1e270103bf727e1e26397f412f87 +size 822397 diff --git a/train/FloorPlan408/0/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png b/train/FloorPlan408/0/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..b009eb4449fdbb8cdcf6474381b251290600e89d --- /dev/null +++ b/train/FloorPlan408/0/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a358eea2f499bdfdfb2fedfd190608036dde371e1956140eb5048c0c9f515dd +size 721344 diff --git a/train/FloorPlan408/0/rgb_1.png b/train/FloorPlan408/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d9bb6884382beaa8ecac7724c8ab13015def8bd9 --- /dev/null +++ b/train/FloorPlan408/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c15b04dc058f692752a096e1c59d342096965bed01bba6e170176b9beed5bef2 +size 855088 diff --git a/train/FloorPlan408/0/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png b/train/FloorPlan408/0/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..4d317a2f200c28b309430defa0574d875d3cb44f --- /dev/null +++ b/train/FloorPlan408/0/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9861a64d055d91c882648ffb4288b9ee4eea5edfdcda0b48afdd4cb00310f12 +size 742129 diff --git a/train/FloorPlan408/0/semantic_0.png b/train/FloorPlan408/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..77b08871733f80a195c44ac0ab5b9996d2c2b64d Binary files /dev/null and b/train/FloorPlan408/0/semantic_0.png differ diff --git a/train/FloorPlan408/0/semantic_1.png b/train/FloorPlan408/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0f8b537acfcdcc26fbab42cd5b206a8bf2c727f2 Binary files /dev/null and b/train/FloorPlan408/0/semantic_1.png differ diff --git a/train/FloorPlan408/1/0.json b/train/FloorPlan408/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9e0d61065edaca32587ba820b75f4d329311c215 --- /dev/null +++ b/train/FloorPlan408/1/0.json @@ -0,0 +1,1683 @@ +{ + "object": [ + { + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "object_info": { + "name": "HandTowel_cb917096", + "position": { + "x": -3.0964131355285645, + "y": 1.5870000123977661, + "z": 0.7440000176429749 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "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": 2.026729106903076, + "objectType": "HandTowel", + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-03.13|+01.69|+00.74" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ] + ], + "center": { + "x": -3.0991873741149902, + "y": 1.3917453289031982, + "z": 0.7440000176429749 + }, + "size": { + "x": 0.03856372833251953, + "y": 0.4048881530761719, + "z": 0.12864363193511963 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.0799057483673096, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799057483673096, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "object_info": { + "name": "Cabinet_7b612f17", + "position": { + "x": -2.2860000133514404, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "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": 1.1830687522888184, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9039266109466553, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.094963312149048, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "object_info": { + "name": "Cabinet_96c5b76f", + "position": { + "x": -3.0948708057403564, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-02.93|+00.07|+00.62" + ], + "distance": 1.8235867023468018, + "objectType": "Cabinet", + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.7127976417541504, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.903834342956543, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "object_info": { + "name": "Cabinet_a9306d96", + "position": { + "x": -2.305048942565918, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.1877895593643188, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.305048942565918, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -2.496170997619629, + "y": 0.38809674978256226, + "z": 0.6833549737930298 + }, + "size": { + "x": 0.3822441101074219, + "y": 0.6574722528457642, + "z": 0.5395598411560059 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "object_info": { + "name": "HandTowelHolder_3299cbda", + "position": { + "x": -3.1347131729125977, + "y": 1.6890000104904175, + "z": 0.7440000176429749 + }, + "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": [ + "HandTowel|-03.10|+01.59|+00.74" + ], + "distance": 2.093207597732544, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.086085796356201, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.6566950082778931 + ] + ], + "center": { + "x": -3.1103994846343994, + "y": 1.628441333770752, + "z": 0.7421000003814697 + }, + "size": { + "x": 0.048627376556396484, + "y": 0.21029233932495117, + "z": 0.17080998420715332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.899999976158142, + "y": 0.902047336101532, + "z": -0.6000000238418579 + }, + "agent_rotation": { + "x": -0.0, + "y": 319.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.899999976158142, + "y": 1.577047348022461, + "z": -0.6000000238418579 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Faucet|-02.68|+01.02|+00.89", + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68", + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Cabinet|-02.31|+00.42|+00.43", + "Cabinet|-02.29|+00.39|+00.42", + "Cabinet|-03.09|+00.39|+00.42", + "HandTowel|-03.10|+01.59|+00.74", + "HandTowelHolder|-03.13|+01.69|+00.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/1/0_depth_npy.npy b/train/FloorPlan408/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b02cf64b48547c325235c7cab4279078b5f9c23e --- /dev/null +++ b/train/FloorPlan408/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bad411e562b2e91d6142203dc921d281196e350b5edcca00840ce25b8a512cdf +size 3145856 diff --git a/train/FloorPlan408/1/0_semantic_sensor_npy.npy b/train/FloorPlan408/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..68f8f3166794193b52548f59753b9aafd61acbdb --- /dev/null +++ b/train/FloorPlan408/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e54f175f51196afd1aa1a7e8eddfce9a3bbf62c872beb630d527bd316d7e6da +size 2359424 diff --git a/train/FloorPlan408/1/1.json b/train/FloorPlan408/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..0a404489ee7de2d1cef3696032715882ea976d59 --- /dev/null +++ b/train/FloorPlan408/1/1.json @@ -0,0 +1,2731 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.0, + "y": 0.902047336101532, + "z": -0.20000001788139343 + }, + "agent_rotation": { + "x": -0.0, + "y": 10.999999046325684, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.0, + "y": 1.577047348022461, + "z": -0.20000001788139343 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Faucet|-02.68|+01.02|+00.89", + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68", + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Towel|-00.49|+01.37|+00.90", + "ToiletPaper|-01.00|+01.03|+00.92", + "ToiletPaper|-00.87|+01.04|+00.95", + "Faucet|+00.27|+00.67|+00.94", + "ScrubBrush|-00.49|+00.00|+00.87", + "TowelHolder|-00.49|+01.35|+01.01", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "Cloth|-01.18|+01.04|+00.90", + "Toilet|-01.05|+00.00|+00.55", + "Candle|-00.15|+00.55|+00.80", + "Plunger|-00.71|+00.00|+00.83", + "Bathtub|+00.29|+00.29|-00.08" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/1/1_depth_npy.npy b/train/FloorPlan408/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ec5ce7d2da7b250ccb3922c760e592cc264649b --- /dev/null +++ b/train/FloorPlan408/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49c51ce4141aac0312aece66ae693de1ded0d560a863b773bc86f4d689408fa3 +size 3145856 diff --git a/train/FloorPlan408/1/1_semantic_sensor_npy.npy b/train/FloorPlan408/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..dcfd3a443b8e634e4546783afa28ccc2a7f3b80b --- /dev/null +++ b/train/FloorPlan408/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e81825f089fde542cabdf0596f492b8c28ab06651394f35e83e50ffce9e910fb +size 2359424 diff --git a/train/FloorPlan408/1/depth_0.png b/train/FloorPlan408/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1087b066e20452564b2bad7732f09d27fd210096 Binary files /dev/null and b/train/FloorPlan408/1/depth_0.png differ diff --git a/train/FloorPlan408/1/depth_1.png b/train/FloorPlan408/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a06b7afe7afc83eeca9d69c26b4158a527ccf00e Binary files /dev/null and b/train/FloorPlan408/1/depth_1.png differ diff --git a/train/FloorPlan408/1/mask_questions.jsonl b/train/FloorPlan408/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d56f81e75538b7fb0a9a110c2d5721a852d85ff --- /dev/null +++ b/train/FloorPlan408/1/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 8151, "folder_dir": "FloorPlan408/1", "pair_name": "0-1:Faucet|-02.68|+01.02|+00.89", "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. Mirror\nC. Cabinet\nD. HandTowelHolder", "answer": "A", "object_name": "Faucet", "image_1": "FloorPlan408/1/rgb_0.png", "image_2": "FloorPlan408/1/rgb_1.png", "mask_image": "FloorPlan408/1/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png", "options": ["Faucet", "Mirror", "Cabinet", "HandTowelHolder"]} +{"id": 8152, "folder_dir": "FloorPlan408/1", "pair_name": "0-1:Faucet|-01.92|+01.02|+00.89", "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. HandTowelHolder\nC. HandTowel\nD. Faucet", "answer": "A", "object_name": "Faucet", "image_1": "FloorPlan408/1/rgb_0.png", "image_2": "FloorPlan408/1/rgb_1.png", "mask_image": "FloorPlan408/1/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["Faucet", "HandTowelHolder", "HandTowel", "Faucet"]} +{"id": 8153, "folder_dir": "FloorPlan408/1", "pair_name": "0-1:Sink|-01.92|+00.93|+00.68|SinkBasin", "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. HandTowelHolder\nB. Faucet\nC. Cabinet\nD. SinkBasin", "answer": "D", "object_name": "SinkBasin", "image_1": "FloorPlan408/1/rgb_0.png", "image_2": "FloorPlan408/1/rgb_1.png", "mask_image": "FloorPlan408/1/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png", "options": ["HandTowelHolder", "Faucet", "Cabinet", "SinkBasin"]} +{"id": 8154, "folder_dir": "FloorPlan408/1", "pair_name": "0-1:Sink|-02.68|+00.93|+00.68|SinkBasin", "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. Cabinet\nC. HandTowel\nD. Faucet", "answer": "A", "object_name": "SinkBasin", "image_1": "FloorPlan408/1/rgb_0.png", "image_2": "FloorPlan408/1/rgb_1.png", "mask_image": "FloorPlan408/1/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png", "options": ["SinkBasin", "Cabinet", "HandTowel", "Faucet"]} +{"id": 8155, "folder_dir": "FloorPlan408/1", "pair_name": "1-0:Faucet|-01.92|+01.02|+00.89", "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. Faucet\nC. Towel\nD. Toilet", "answer": "A", "object_name": "Faucet", "image_1": "FloorPlan408/1/rgb_1.png", "image_2": "FloorPlan408/1/rgb_0.png", "mask_image": "FloorPlan408/1/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["Faucet", "Faucet", "Towel", "Toilet"]} +{"id": 8156, "folder_dir": "FloorPlan408/1", "pair_name": "1-0:Sink|-02.68|+00.93|+00.68|SinkBasin", "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. Candle\nB. SinkBasin\nC. Faucet\nD. TowelHolder", "answer": "B", "object_name": "SinkBasin", "image_1": "FloorPlan408/1/rgb_1.png", "image_2": "FloorPlan408/1/rgb_0.png", "mask_image": "FloorPlan408/1/rgb_0_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png", "options": ["Candle", "SinkBasin", "Faucet", "TowelHolder"]} diff --git a/train/FloorPlan408/1/questions_distance.jsonl b/train/FloorPlan408/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4840a184575c7127af52085d261a5b57e9330d9 --- /dev/null +++ b/train/FloorPlan408/1/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 2473, "folder_dir": "FloorPlan408/1", "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. CounterTop\nB. HandTowelHolder\nC. HandTowel\nD. Other\n", "answer": "A", "src_object": "Mirror", "target_object": "CounterTop", "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": "CounterTop", "semantic_id": "CounterTop|-02.30|+00.95|+00.69", "distance": 0.6537298813219412, "com": {"x": -2.2935121059417725, "y": 0.9349074959754944, "z": 0.7150506973266602}}, {"text": "HandTowelHolder", "semantic_id": "HandTowelHolder|-03.13|+01.69|+00.74", "distance": 0.8560297338585426, "com": {"x": -3.1103994846343994, "y": 1.628441333770752, "z": 0.7421000003814697}}, {"text": "HandTowel", "semantic_id": "HandTowel|-03.10|+01.59|+00.74", "distance": 0.8495600463328347, "com": {"x": -3.0991873741149902, "y": 1.3917453289031982, "z": 0.7440000176429749}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/1/rgb_0.png", "image_2": "FloorPlan408/1/rgb_1.png"} +{"id": 2474, "folder_dir": "FloorPlan408/1", "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. ToiletPaperHanger\nB. SoapBottle\nC. Mirror\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "Mirror", "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": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.866412810496118, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-01.53|+00.95|+00.91", "distance": 0.7965677220859586, "com": {"x": -1.5259977579116821, "y": 1.063265323638916, "z": 0.8852450847625732}}, {"text": "Mirror", "semantic_id": "Mirror|-02.31|+01.53|+01.00", "distance": 0.6537298813219412, "com": {"x": -2.2980048656463623, "y": 1.5269999504089355, "z": 0.9921230673789978}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/1/rgb_0.png", "image_2": "FloorPlan408/1/rgb_1.png"} diff --git a/train/FloorPlan408/1/rgb_0.png b/train/FloorPlan408/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0db66e86ccdb973b5249c430bc5ee72b341f9095 --- /dev/null +++ b/train/FloorPlan408/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c54b955b76e3ccfd04b838d220eb58a2d1ab7f06ec40fe4d672c808f08c9e8be +size 931745 diff --git a/train/FloorPlan408/1/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png b/train/FloorPlan408/1/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..d5acc092255cbdaa8f7cb5bbfde24f550f4ea76d --- /dev/null +++ b/train/FloorPlan408/1/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fe8746191d90f8397e3b66fb4d24a6c47924dfd844eff862463cf2f7a049a03 +size 793274 diff --git a/train/FloorPlan408/1/rgb_0_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png b/train/FloorPlan408/1/rgb_0_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png new file mode 100644 index 0000000000000000000000000000000000000000..027b1532f19b608f8fe37f6c4cde9c9f453beec3 --- /dev/null +++ b/train/FloorPlan408/1/rgb_0_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5fac1e96723271f2f18730e9b0a211a95adc4dd6b1bb77cedd7dfe7f4666148 +size 815144 diff --git a/train/FloorPlan408/1/rgb_1.png b/train/FloorPlan408/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6591a836b5e9664245b6a00d403d9ac8046d56e9 --- /dev/null +++ b/train/FloorPlan408/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:236b8bfd88a764c265798a0a024cbceb57f2f7d24c5baed092ae83c60e125a85 +size 833398 diff --git a/train/FloorPlan408/1/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png b/train/FloorPlan408/1/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..f82ed8d2fc19e624aae7d8aa64713b216f946e43 --- /dev/null +++ b/train/FloorPlan408/1/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed2369c5e76ce5928354c3cd357edfc79ad2f9cc84153d653a9e8e3069067e48 +size 717837 diff --git a/train/FloorPlan408/1/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png b/train/FloorPlan408/1/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..db629faff43d8daf9ef0098c1ea5291422820352 --- /dev/null +++ b/train/FloorPlan408/1/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42bb5ae69d666938f588ee2dc61f60d57385601317ca02433126edff838191b1 +size 702037 diff --git a/train/FloorPlan408/1/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png b/train/FloorPlan408/1/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png new file mode 100644 index 0000000000000000000000000000000000000000..e4809be15e95f83d6ab8999ce8293ea9e4b0e400 --- /dev/null +++ b/train/FloorPlan408/1/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:200026dd05429ec21499a4f01c55f011e1a1eeb2a88e6c386ac80b30a15085b4 +size 724425 diff --git a/train/FloorPlan408/1/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png b/train/FloorPlan408/1/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png new file mode 100644 index 0000000000000000000000000000000000000000..415c0efc8a5b21f0d69d1117a9a724221bef99ef --- /dev/null +++ b/train/FloorPlan408/1/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:438ccccb3899b71fd6fff80b1a3b0b74c6a22f33f4b7407c94a2b1854c881b94 +size 724486 diff --git a/train/FloorPlan408/1/semantic_0.png b/train/FloorPlan408/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fca1d3ed337ceef2a31ac484d83ba466716823b1 Binary files /dev/null and b/train/FloorPlan408/1/semantic_0.png differ diff --git a/train/FloorPlan408/1/semantic_1.png b/train/FloorPlan408/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f81eb6d7ca0ef180e7e45771cafb048a40ab6629 Binary files /dev/null and b/train/FloorPlan408/1/semantic_1.png differ diff --git a/train/FloorPlan408/10/0.json b/train/FloorPlan408/10/0.json new file mode 100644 index 0000000000000000000000000000000000000000..e37ac2393b24d82c12ab92417b797c8083bb8748 --- /dev/null +++ b/train/FloorPlan408/10/0.json @@ -0,0 +1,2398 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-01.39|+01.26|-01.69", + "object_info": { + "name": "LightSwitch_8e96468b", + "position": { + "x": -1.3899999856948853, + "y": 1.2630000114440918, + "z": -1.6936728954315186 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": 1.4438529014587402, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-01.39|+01.26|-01.69", + "assetId": "Light_Switch_8", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3345478773117065, + 1.364487886428833, + -1.6704833507537842 + ], + [ + -1.3345478773117065, + 1.364487886428833, + -1.6936728954315186 + ], + [ + -1.3345478773117065, + 1.1672534942626953, + -1.6704833507537842 + ], + [ + -1.3345478773117065, + 1.1672534942626953, + -1.6936728954315186 + ], + [ + -1.445452094078064, + 1.364487886428833, + -1.6704833507537842 + ], + [ + -1.445452094078064, + 1.364487886428833, + -1.6936728954315186 + ], + [ + -1.445452094078064, + 1.1672534942626953, + -1.6704833507537842 + ], + [ + -1.445452094078064, + 1.1672534942626953, + -1.6936728954315186 + ] + ], + "center": { + "x": -1.3899999856948853, + "y": 1.2658706903457642, + "z": -1.6820781230926514 + }, + "size": { + "x": 0.11090421676635742, + "y": 0.1972343921661377, + "z": 0.023189544677734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "object_info": { + "name": "ShowerCurtain_9ca066ad", + "position": { + "x": -0.20999999344348907, + "y": 1.9098000526428223, + "z": -1.0338000059127808 + }, + "rotation": { + "x": -0.0, + "y": 270.0001220703125, + "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": 1.7939140796661377, + "objectType": "ShowerCurtain", + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "assetId": "Shower_Curtain_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08", + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10969603061676025, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -1.0350613594055176 + ] + ], + "center": { + "x": -0.2964516878128052, + "y": 0.987040638923645, + "z": -0.818053126335144 + }, + "size": { + "x": 0.37351131439208984, + "y": 1.9377357959747314, + "z": 0.43401646614074707 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "object_info": { + "name": "Cabinet_d552b090", + "position": { + "x": -1.496178150177002, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "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": 0.8733583092689514, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.496178150177002, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -1.6873000860214233, + "y": 0.38809674978256226, + "z": 0.6833548545837402 + }, + "size": { + "x": 0.3822438716888428, + "y": 0.6574722528457642, + "z": 0.5395596027374268 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -2.8000001907348633, + "y": 0.902047336101532, + "z": -0.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 98.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.8000001907348633, + "y": 1.577047348022461, + "z": -0.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "CounterTop|-02.30|+00.95|+00.69", + "Toilet|-01.05|+00.00|+00.55", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Cabinet|-01.50|+00.42|+00.43", + "Cloth|-01.18|+01.04|+00.90", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Towel|-00.49|+01.37|+00.90", + "Faucet|+00.27|+00.67|+00.94", + "ToiletPaper|-00.87|+01.04|+00.95", + "ScrubBrush|-00.49|+00.00|+00.87", + "ToiletPaper|-01.00|+01.03|+00.92", + "ShowerCurtain|-00.21|+01.91|-01.03", + "TowelHolder|-00.49|+01.35|+01.01", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "Plunger|-00.71|+00.00|+00.83", + "Bathtub|+00.29|+00.29|-00.08", + "LightSwitch|-01.39|+01.26|-01.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/10/0_depth_npy.npy b/train/FloorPlan408/10/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6b2e787e59bf42ac1a5ac11d6738d3073d9632df --- /dev/null +++ b/train/FloorPlan408/10/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d10fc903455590cdf2e2336c5c8e88f2f730c8148d8241f56584198bb61bc3c3 +size 3145856 diff --git a/train/FloorPlan408/10/0_semantic_sensor_npy.npy b/train/FloorPlan408/10/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7065cd149f64f3bd29a3c0e359897cd6ad7503ca --- /dev/null +++ b/train/FloorPlan408/10/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0c381b4d8961be1093a006e5dc195f313b125381a29da8ae5743d1a39d57295 +size 2359424 diff --git a/train/FloorPlan408/10/1.json b/train/FloorPlan408/10/1.json new file mode 100644 index 0000000000000000000000000000000000000000..46ee81fcb052f8b34811783c554a3a128bcc1502 --- /dev/null +++ b/train/FloorPlan408/10/1.json @@ -0,0 +1,2065 @@ +{ + "object": [ + { + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "object_info": { + "name": "HandTowel_cb917096", + "position": { + "x": -3.0964131355285645, + "y": 1.5870000123977661, + "z": 0.7440000176429749 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "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": 2.026729106903076, + "objectType": "HandTowel", + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-03.13|+01.69|+00.74" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ] + ], + "center": { + "x": -3.0991873741149902, + "y": 1.3917453289031982, + "z": 0.7440000176429749 + }, + "size": { + "x": 0.03856372833251953, + "y": 0.4048881530761719, + "z": 0.12864363193511963 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.0799057483673096, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799057483673096, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "object_info": { + "name": "Cabinet_7b612f17", + "position": { + "x": -2.2860000133514404, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "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": 1.1830687522888184, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9039266109466553, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.094963312149048, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "object_info": { + "name": "Cabinet_96c5b76f", + "position": { + "x": -3.0948708057403564, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-02.93|+00.07|+00.62" + ], + "distance": 1.8235867023468018, + "objectType": "Cabinet", + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.7127976417541504, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.903834342956543, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "object_info": { + "name": "Cabinet_a9306d96", + "position": { + "x": -2.305048942565918, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.1877895593643188, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.305048942565918, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -2.496170997619629, + "y": 0.38809674978256226, + "z": 0.6833549737930298 + }, + "size": { + "x": 0.3822441101074219, + "y": 0.6574722528457642, + "z": 0.5395598411560059 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "object_info": { + "name": "HandTowelHolder_3299cbda", + "position": { + "x": -3.1347131729125977, + "y": 1.6890000104904175, + "z": 0.7440000176429749 + }, + "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": [ + "HandTowel|-03.10|+01.59|+00.74" + ], + "distance": 2.093207597732544, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.086085796356201, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.6566950082778931 + ] + ], + "center": { + "x": -3.1103994846343994, + "y": 1.628441333770752, + "z": 0.7421000003814697 + }, + "size": { + "x": 0.048627376556396484, + "y": 0.21029233932495117, + "z": 0.17080998420715332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "object_info": { + "name": "Cabinet_d552b090", + "position": { + "x": -1.496178150177002, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "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": 0.8733583092689514, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.496178150177002, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -1.6873000860214233, + "y": 0.38809674978256226, + "z": 0.6833548545837402 + }, + "size": { + "x": 0.3822438716888428, + "y": 0.6574722528457642, + "z": 0.5395596027374268 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.700000047683716, + "y": 0.902047336101532, + "z": -0.800000011920929 + }, + "agent_rotation": { + "x": -0.0, + "y": 350.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.700000047683716, + "y": 1.577047348022461, + "z": -0.800000011920929 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "CounterTop|-02.30|+00.95|+00.69", + "Toilet|-01.05|+00.00|+00.55", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Cabinet|-01.50|+00.42|+00.43", + "Cloth|-01.18|+01.04|+00.90", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Faucet|-02.68|+01.02|+00.89", + "Cabinet|-02.31|+00.42|+00.43", + "Cabinet|-02.29|+00.39|+00.42", + "Cabinet|-03.09|+00.39|+00.42", + "HandTowel|-03.10|+01.59|+00.74", + "Mirror|-02.31|+01.53|+01.00", + "Sink|-02.68|+00.93|+00.68", + "Faucet|-01.92|+01.02|+00.89", + "SoapBottle|-01.53|+00.95|+00.91", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "HandTowelHolder|-03.13|+01.69|+00.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/10/1_depth_npy.npy b/train/FloorPlan408/10/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cb1111137c204acd0b96e1b34e89a038b5261125 --- /dev/null +++ b/train/FloorPlan408/10/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d35c6a3859f9f1726bd5c41484ce42b00ea98da9ea2ea6c227ee7efd6e53875 +size 3145856 diff --git a/train/FloorPlan408/10/1_semantic_sensor_npy.npy b/train/FloorPlan408/10/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0d29e580f87922d44eeb54cc1e8f533e8743b00a --- /dev/null +++ b/train/FloorPlan408/10/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdbea06ede3fe2c76059a14d3bc071cebfebedae7a386b8898575510641fcab1 +size 2359424 diff --git a/train/FloorPlan408/10/depth_0.png b/train/FloorPlan408/10/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3e42784fea480160582b47df90c0cde8e44398f0 Binary files /dev/null and b/train/FloorPlan408/10/depth_0.png differ diff --git a/train/FloorPlan408/10/depth_1.png b/train/FloorPlan408/10/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1836a77a6382d9bedd6d815336a0a59a8375db8b Binary files /dev/null and b/train/FloorPlan408/10/depth_1.png differ diff --git a/train/FloorPlan408/10/mask_questions.jsonl b/train/FloorPlan408/10/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43ed7f6a7f0404cc15705969bb0565b4913face1 --- /dev/null +++ b/train/FloorPlan408/10/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 8167, "folder_dir": "FloorPlan408/10", "pair_name": "0-1:Cabinet|-01.50|+00.42|+00.43", "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. ShowerCurtain\nB. Cabinet\nC. Candle\nD. CounterTop", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan408/10/rgb_0.png", "image_2": "FloorPlan408/10/rgb_1.png", "mask_image": "FloorPlan408/10/rgb_1_mask_Cabinet|-01.50|+00.42|+00.43.png", "options": ["ShowerCurtain", "Cabinet", "Candle", "CounterTop"]} +{"id": 8168, "folder_dir": "FloorPlan408/10", "pair_name": "1-0:Cabinet|-01.50|+00.42|+00.43", "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. Faucet\nB. Cabinet\nC. CounterTop\nD. Mirror", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan408/10/rgb_1.png", "image_2": "FloorPlan408/10/rgb_0.png", "mask_image": "FloorPlan408/10/rgb_0_mask_Cabinet|-01.50|+00.42|+00.43.png", "options": ["Faucet", "Cabinet", "CounterTop", "Mirror"]} diff --git a/train/FloorPlan408/10/questions_distance.jsonl b/train/FloorPlan408/10/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4812bcb6d56b03a39c335151922c766b3fc8b30 --- /dev/null +++ b/train/FloorPlan408/10/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 2480, "folder_dir": "FloorPlan408/10", "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": "C", "src_object": "CounterTop", "target_object": "Mirror", "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|-01.53|+00.95|+00.91", "distance": 0.7965677220859586, "com": {"x": -1.5259977579116821, "y": 1.063265323638916, "z": 0.8852450847625732}}, {"text": "HandTowel", "semantic_id": "HandTowel|-03.10|+01.59|+00.74", "distance": 0.926634505340074, "com": {"x": -3.0991873741149902, "y": 1.3917453289031982, "z": 0.7440000176429749}}, {"text": "Mirror", "semantic_id": "Mirror|-02.31|+01.53|+01.00", "distance": 0.6537298813219412, "com": {"x": -2.2980048656463623, "y": 1.5269999504089355, "z": 0.9921230673789978}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/10/rgb_0.png", "image_2": "FloorPlan408/10/rgb_1.png"} +{"id": 2481, "folder_dir": "FloorPlan408/10", "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. Cloth\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": "Cloth", "semantic_id": "Cloth|-01.18|+01.04|+00.90", "distance": 0.6704274199172804, "com": {"x": -1.1760236024856567, "y": 1.066142201423645, "z": 0.9056588411331177}}, {"text": "ScrubBrush", "semantic_id": "ScrubBrush|-00.49|+00.00|+00.87", "distance": 0.7168089444891276, "com": {"x": -0.48509740829467773, "y": 0.2392423152923584, "z": 0.8739112019538879}}, {"text": "Plunger", "semantic_id": "Plunger|-00.71|+00.00|+00.83", "distance": 0.5124429560793059, "com": {"x": -0.7109901905059814, "y": 0.27071699500083923, "z": 0.8281076550483704}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/10/rgb_0.png", "image_2": "FloorPlan408/10/rgb_1.png"} diff --git a/train/FloorPlan408/10/rgb_0.png b/train/FloorPlan408/10/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..35858f2aec989d1e27f46be62537c6b73432eec8 --- /dev/null +++ b/train/FloorPlan408/10/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:048994992a5390ce16de6d2a4d356174aa39af8d601406817a24fe20d88eef21 +size 903931 diff --git a/train/FloorPlan408/10/rgb_0_mask_Cabinet|-01.50|+00.42|+00.43.png b/train/FloorPlan408/10/rgb_0_mask_Cabinet|-01.50|+00.42|+00.43.png new file mode 100644 index 0000000000000000000000000000000000000000..952dc6410bb73130237db2786508d6ac6c7666bd --- /dev/null +++ b/train/FloorPlan408/10/rgb_0_mask_Cabinet|-01.50|+00.42|+00.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee3229936aa87b109d1b01b9a2994d7831596a68b6e30b0d31c21654025a738d +size 786705 diff --git a/train/FloorPlan408/10/rgb_1.png b/train/FloorPlan408/10/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a1bf50912e76ec7751be702f8fc330140d9c1193 --- /dev/null +++ b/train/FloorPlan408/10/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5484a0840a436c796f1feff65b4efafc887ce16d602145a22f689b0d4bdb570f +size 888077 diff --git a/train/FloorPlan408/10/rgb_1_mask_Cabinet|-01.50|+00.42|+00.43.png b/train/FloorPlan408/10/rgb_1_mask_Cabinet|-01.50|+00.42|+00.43.png new file mode 100644 index 0000000000000000000000000000000000000000..ea08efb143a9091e8a5574dd50d5357f5c044db2 --- /dev/null +++ b/train/FloorPlan408/10/rgb_1_mask_Cabinet|-01.50|+00.42|+00.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52dccbe9a34659cac7a8f504cd5ae5d0fa2248fe623031286e155593273f0df4 +size 774960 diff --git a/train/FloorPlan408/10/semantic_0.png b/train/FloorPlan408/10/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c35213113c835e6e2f2797f405e64b9bf6424917 Binary files /dev/null and b/train/FloorPlan408/10/semantic_0.png differ diff --git a/train/FloorPlan408/10/semantic_1.png b/train/FloorPlan408/10/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8fd01f32aa02550476564e84ce059ab4342706b3 Binary files /dev/null and b/train/FloorPlan408/10/semantic_1.png differ diff --git a/train/FloorPlan408/11/0.json b/train/FloorPlan408/11/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3261f85840506c01056666d69a9bd67188653f3 --- /dev/null +++ b/train/FloorPlan408/11/0.json @@ -0,0 +1,2885 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "object_info": { + "name": "ShowerCurtain_9ca066ad", + "position": { + "x": -0.20999999344348907, + "y": 1.9098000526428223, + "z": -1.0338000059127808 + }, + "rotation": { + "x": -0.0, + "y": 270.0001220703125, + "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": 1.7939140796661377, + "objectType": "ShowerCurtain", + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "assetId": "Shower_Curtain_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08", + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10969603061676025, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -1.0350613594055176 + ] + ], + "center": { + "x": -0.2964516878128052, + "y": 0.987040638923645, + "z": -0.818053126335144 + }, + "size": { + "x": 0.37351131439208984, + "y": 1.9377357959747314, + "z": 0.43401646614074707 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "object_info": { + "name": "BathtubBasin_45501309", + "position": { + "x": 0.3497999906539917, + "y": 0.02399998903274536, + "z": -0.13500000536441803 + }, + "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": [], + "distance": 2.0542521476745605, + "objectType": "BathtubBasin", + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6311837434768677, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + -1.020472764968872 + ] + ], + "center": { + "x": 0.34708428382873535, + "y": 0.2314356118440628, + "z": -0.0953139066696167 + }, + "size": { + "x": 0.5681989192962646, + "y": 0.4175412654876709, + "z": 1.8503177165985107 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "object_info": { + "name": "Cabinet_d552b090", + "position": { + "x": -1.496178150177002, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "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": 0.8733583092689514, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.496178150177002, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -1.6873000860214233, + "y": 0.38809674978256226, + "z": 0.6833548545837402 + }, + "size": { + "x": 0.3822438716888428, + "y": 0.6574722528457642, + "z": 0.5395596027374268 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.7000000476837158, + "y": 0.902047336101532, + "z": -0.7000000476837158 + }, + "agent_rotation": { + "x": -0.0, + "y": 48.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.7000000476837158, + "y": 1.577047348022461, + "z": -0.7000000476837158 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.49|+01.37|+00.90", + "ToiletPaper|-01.00|+01.03|+00.92", + "ToiletPaper|-00.87|+01.04|+00.95", + "Sink|-01.92|+00.93|+00.68", + "ScrubBrush|-00.49|+00.00|+00.87", + "TowelHolder|-00.49|+01.35|+01.01", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "Mirror|-02.31|+01.53|+01.00", + "Toilet|-01.05|+00.00|+00.55", + "Faucet|-01.92|+01.02|+00.89", + "CounterTop|-02.30|+00.95|+00.69", + "SoapBottle|-01.53|+00.95|+00.91", + "Cloth|-01.18|+01.04|+00.90", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Cabinet|-01.50|+00.42|+00.43", + "Plunger|-00.71|+00.00|+00.83", + "Bathtub|+00.29|+00.29|-00.08" + ], + "different_object": [ + "Faucet|+00.27|+00.67|+00.94", + "ShowerCurtain|-00.21|+01.91|-01.03", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "Bathtub|+00.29|+00.29|-00.08|BathtubBasin" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/11/0_depth_npy.npy b/train/FloorPlan408/11/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b22a2a1f555bbb16c3a5028e1d46649dead22b46 --- /dev/null +++ b/train/FloorPlan408/11/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84d21d13d59843c1b0a1e05d6ef104dda3d78af9b8a08114904508746d892397 +size 3145856 diff --git a/train/FloorPlan408/11/0_semantic_sensor_npy.npy b/train/FloorPlan408/11/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c59a6a439a4f93c6dc59da59d51d04a7da9ea907 --- /dev/null +++ b/train/FloorPlan408/11/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:165744ec4397afade07f4f9c96b8d6367b15a75abffdb025afbcd24e0900aedb +size 2359424 diff --git a/train/FloorPlan408/11/1.json b/train/FloorPlan408/11/1.json new file mode 100644 index 0000000000000000000000000000000000000000..a0b5d4058ba18a0cf47ee626fd2d25ac559e770f --- /dev/null +++ b/train/FloorPlan408/11/1.json @@ -0,0 +1,3179 @@ +{ + "object": [ + { + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "object_info": { + "name": "HandTowel_cb917096", + "position": { + "x": -3.0964131355285645, + "y": 1.5870000123977661, + "z": 0.7440000176429749 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "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": 2.026729106903076, + "objectType": "HandTowel", + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-03.13|+01.69|+00.74" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ] + ], + "center": { + "x": -3.0991873741149902, + "y": 1.3917453289031982, + "z": 0.7440000176429749 + }, + "size": { + "x": 0.03856372833251953, + "y": 0.4048881530761719, + "z": 0.12864363193511963 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.0799057483673096, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799057483673096, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "object_info": { + "name": "Cabinet_7b612f17", + "position": { + "x": -2.2860000133514404, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "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": 1.1830687522888184, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9039266109466553, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.094963312149048, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "object_info": { + "name": "Cabinet_96c5b76f", + "position": { + "x": -3.0948708057403564, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-02.93|+00.07|+00.62" + ], + "distance": 1.8235867023468018, + "objectType": "Cabinet", + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.7127976417541504, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.903834342956543, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "object_info": { + "name": "Cabinet_a9306d96", + "position": { + "x": -2.305048942565918, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.1877895593643188, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.305048942565918, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -2.496170997619629, + "y": 0.38809674978256226, + "z": 0.6833549737930298 + }, + "size": { + "x": 0.3822441101074219, + "y": 0.6574722528457642, + "z": 0.5395598411560059 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "object_info": { + "name": "HandTowelHolder_3299cbda", + "position": { + "x": -3.1347131729125977, + "y": 1.6890000104904175, + "z": 0.7440000176429749 + }, + "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": [ + "HandTowel|-03.10|+01.59|+00.74" + ], + "distance": 2.093207597732544, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.086085796356201, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.6566950082778931 + ] + ], + "center": { + "x": -3.1103994846343994, + "y": 1.628441333770752, + "z": 0.7421000003814697 + }, + "size": { + "x": 0.048627376556396484, + "y": 0.21029233932495117, + "z": 0.17080998420715332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "object_info": { + "name": "Cabinet_d552b090", + "position": { + "x": -1.496178150177002, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "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": 0.8733583092689514, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.496178150177002, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -1.6873000860214233, + "y": 0.38809674978256226, + "z": 0.6833548545837402 + }, + "size": { + "x": 0.3822438716888428, + "y": 0.6574722528457642, + "z": 0.5395596027374268 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.299999952316284, + "y": 0.902047336101532, + "z": -1.100000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 354.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.299999952316284, + "y": 1.577047348022461, + "z": -1.100000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.49|+01.37|+00.90", + "ToiletPaper|-01.00|+01.03|+00.92", + "ToiletPaper|-00.87|+01.04|+00.95", + "Sink|-01.92|+00.93|+00.68", + "ScrubBrush|-00.49|+00.00|+00.87", + "TowelHolder|-00.49|+01.35|+01.01", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "Mirror|-02.31|+01.53|+01.00", + "Toilet|-01.05|+00.00|+00.55", + "Faucet|-01.92|+01.02|+00.89", + "CounterTop|-02.30|+00.95|+00.69", + "SoapBottle|-01.53|+00.95|+00.91", + "Cloth|-01.18|+01.04|+00.90", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Cabinet|-01.50|+00.42|+00.43", + "Plunger|-00.71|+00.00|+00.83", + "Bathtub|+00.29|+00.29|-00.08" + ], + "different_object": [ + "Faucet|-02.68|+01.02|+00.89", + "Cabinet|-02.31|+00.42|+00.43", + "Cabinet|-02.29|+00.39|+00.42", + "Cabinet|-03.09|+00.39|+00.42", + "HandTowel|-03.10|+01.59|+00.74", + "Sink|-02.68|+00.93|+00.68", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "HandTowelHolder|-03.13|+01.69|+00.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/11/1_depth_npy.npy b/train/FloorPlan408/11/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8b077866dd2018d65ef7f00bddc265222e93b7c2 --- /dev/null +++ b/train/FloorPlan408/11/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:809293f2121bc29c57b85be90504c3476923b84769c355eb90b15a336890519b +size 3145856 diff --git a/train/FloorPlan408/11/1_semantic_sensor_npy.npy b/train/FloorPlan408/11/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..213c430589b13bf4828e8b6750a9ebc1b5ba75e9 --- /dev/null +++ b/train/FloorPlan408/11/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f98ce5375cf89ec6e3ea0132252da4da002afb65fe09af34a39e0b9c062dc5aa +size 2359424 diff --git a/train/FloorPlan408/11/depth_0.png b/train/FloorPlan408/11/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4a749a51e73feba9d1ba12c8f4de28bc37b6d024 Binary files /dev/null and b/train/FloorPlan408/11/depth_0.png differ diff --git a/train/FloorPlan408/11/depth_1.png b/train/FloorPlan408/11/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..752de3e5ef6ce8914c433f2276bd4cd1334c794a Binary files /dev/null and b/train/FloorPlan408/11/depth_1.png differ diff --git a/train/FloorPlan408/11/mask_questions.jsonl b/train/FloorPlan408/11/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7955aece1f0f5aa4b52ee624f34d34f8dfb8d6b --- /dev/null +++ b/train/FloorPlan408/11/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 8161, "folder_dir": "FloorPlan408/11", "pair_name": "0-1:Towel|-00.49|+01.37|+00.90", "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. ToiletPaper\nC. SoapBar\nD. Towel", "answer": "D", "object_name": "Towel", "image_1": "FloorPlan408/11/rgb_0.png", "image_2": "FloorPlan408/11/rgb_1.png", "mask_image": "FloorPlan408/11/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png", "options": ["Faucet", "ToiletPaper", "SoapBar", "Towel"]} +{"id": 8162, "folder_dir": "FloorPlan408/11", "pair_name": "0-1:Mirror|-02.31|+01.53|+01.00", "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. Towel\nD. SoapBar", "answer": "A", "object_name": "Mirror", "image_1": "FloorPlan408/11/rgb_0.png", "image_2": "FloorPlan408/11/rgb_1.png", "mask_image": "FloorPlan408/11/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png", "options": ["Mirror", "Faucet", "Towel", "SoapBar"]} +{"id": 8163, "folder_dir": "FloorPlan408/11", "pair_name": "0-1:Bathtub|+00.29|+00.29|-00.08", "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. BathtubBasin\nC. ShowerCurtain\nD. Bathtub", "answer": "D", "object_name": "Bathtub", "image_1": "FloorPlan408/11/rgb_0.png", "image_2": "FloorPlan408/11/rgb_1.png", "mask_image": "FloorPlan408/11/rgb_1_mask_Bathtub|+00.29|+00.29|-00.08.png", "options": ["Towel", "BathtubBasin", "ShowerCurtain", "Bathtub"]} +{"id": 8164, "folder_dir": "FloorPlan408/11", "pair_name": "1-0:Towel|-00.49|+01.37|+00.90", "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. Towel\nC. ToiletPaper\nD. Cabinet", "answer": "B", "object_name": "Towel", "image_1": "FloorPlan408/11/rgb_1.png", "image_2": "FloorPlan408/11/rgb_0.png", "mask_image": "FloorPlan408/11/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png", "options": ["Cabinet", "Towel", "ToiletPaper", "Cabinet"]} +{"id": 8165, "folder_dir": "FloorPlan408/11", "pair_name": "1-0:Mirror|-02.31|+01.53|+01.00", "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. Towel\nC. SinkBasin\nD. HandTowelHolder", "answer": "A", "object_name": "Mirror", "image_1": "FloorPlan408/11/rgb_1.png", "image_2": "FloorPlan408/11/rgb_0.png", "mask_image": "FloorPlan408/11/rgb_0_mask_Mirror|-02.31|+01.53|+01.00.png", "options": ["Mirror", "Towel", "SinkBasin", "HandTowelHolder"]} +{"id": 8166, "folder_dir": "FloorPlan408/11", "pair_name": "1-0:Faucet|-01.92|+01.02|+00.89", "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. Towel\nD. Cabinet", "answer": "A", "object_name": "Faucet", "image_1": "FloorPlan408/11/rgb_1.png", "image_2": "FloorPlan408/11/rgb_0.png", "mask_image": "FloorPlan408/11/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["Faucet", "Cabinet", "Towel", "Cabinet"]} diff --git a/train/FloorPlan408/11/questions_distance.jsonl b/train/FloorPlan408/11/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8400da6683d96f0aeb3089cd83ef749ea7918760 --- /dev/null +++ b/train/FloorPlan408/11/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 2477, "folder_dir": "FloorPlan408/11", "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. CounterTop\nB. HandTowelHolder\nC. HandTowel\nD. Other\n", "answer": "A", "src_object": "Mirror", "target_object": "CounterTop", "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": "CounterTop", "semantic_id": "CounterTop|-02.30|+00.95|+00.69", "distance": 0.6537298813219412, "com": {"x": -2.2935121059417725, "y": 0.9349074959754944, "z": 0.7150506973266602}}, {"text": "HandTowelHolder", "semantic_id": "HandTowelHolder|-03.13|+01.69|+00.74", "distance": 0.8560297338585426, "com": {"x": -3.1103994846343994, "y": 1.628441333770752, "z": 0.7421000003814697}}, {"text": "HandTowel", "semantic_id": "HandTowel|-03.10|+01.59|+00.74", "distance": 0.8495600463328347, "com": {"x": -3.0991873741149902, "y": 1.3917453289031982, "z": 0.7440000176429749}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/11/rgb_0.png", "image_2": "FloorPlan408/11/rgb_1.png"} +{"id": 2478, "folder_dir": "FloorPlan408/11", "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. Cloth\nB. ToiletPaperHanger\nC. Plunger\nD. Other\n", "answer": "B", "src_object": "Toilet", "target_object": "ToiletPaperHanger", "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": "Cloth", "semantic_id": "Cloth|-01.18|+01.04|+00.90", "distance": 0.6704274199172804, "com": {"x": -1.1760236024856567, "y": 1.066142201423645, "z": 0.9056588411331177}}, {"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.4888136261185132, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "Plunger", "semantic_id": "Plunger|-00.71|+00.00|+00.83", "distance": 0.5124429560793059, "com": {"x": -0.7109901905059814, "y": 0.27071699500083923, "z": 0.8281076550483704}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/11/rgb_0.png", "image_2": "FloorPlan408/11/rgb_1.png"} +{"id": 2479, "folder_dir": "FloorPlan408/11", "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. Mirror\nC. ToiletPaperHanger\nD. Other\n", "answer": "B", "src_object": "CounterTop", "target_object": "Mirror", "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|-01.53|+00.95|+00.91", "distance": 0.7965677220859586, "com": {"x": -1.5259977579116821, "y": 1.063265323638916, "z": 0.8852450847625732}}, {"text": "Mirror", "semantic_id": "Mirror|-02.31|+01.53|+01.00", "distance": 0.6537298813219412, "com": {"x": -2.2980048656463623, "y": 1.5269999504089355, "z": 0.9921230673789978}}, {"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.866412810496118, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/11/rgb_0.png", "image_2": "FloorPlan408/11/rgb_1.png"} diff --git a/train/FloorPlan408/11/rgb_0.png b/train/FloorPlan408/11/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..220959ff28e2cfd07380c37274a816d269a133d4 --- /dev/null +++ b/train/FloorPlan408/11/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1479f52579935bb7fc1a7377f0cbf7e196beb81cb516eaca7aa9d183704e094a +size 833515 diff --git a/train/FloorPlan408/11/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png b/train/FloorPlan408/11/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..31ec2881087379812f3b4219d33f6da8c864edd9 --- /dev/null +++ b/train/FloorPlan408/11/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be6652a8c9b40ee379c717db0e6d67a3d9f93f6148290b06debfa868a9ca35b4 +size 728171 diff --git a/train/FloorPlan408/11/rgb_0_mask_Mirror|-02.31|+01.53|+01.00.png b/train/FloorPlan408/11/rgb_0_mask_Mirror|-02.31|+01.53|+01.00.png new file mode 100644 index 0000000000000000000000000000000000000000..8ee6bb251f6c9a2abd554c279d309f0e9966290a --- /dev/null +++ b/train/FloorPlan408/11/rgb_0_mask_Mirror|-02.31|+01.53|+01.00.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:562d0152d3f9f6237b8fd3364d1d8ec97684379704f3937be4959899a0b43a3e +size 688751 diff --git a/train/FloorPlan408/11/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png b/train/FloorPlan408/11/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..12a346ea686fe3a7d4c99b3a20f52991e5d6d740 --- /dev/null +++ b/train/FloorPlan408/11/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2ddca6c228bbd38fb5f3d7af15012874b2e93e1afddc7dd68d9ad4a3159022f +size 731503 diff --git a/train/FloorPlan408/11/rgb_1.png b/train/FloorPlan408/11/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fb285beb2b4df64587ee3adebdc8edf8dad4449e --- /dev/null +++ b/train/FloorPlan408/11/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60a6891159d32c834921bf18cd0378b37b752263d42ec4c4fe928bf083e2dcef +size 882772 diff --git a/train/FloorPlan408/11/rgb_1_mask_Bathtub|+00.29|+00.29|-00.08.png b/train/FloorPlan408/11/rgb_1_mask_Bathtub|+00.29|+00.29|-00.08.png new file mode 100644 index 0000000000000000000000000000000000000000..726dc9e129c30f49bfcc7fa83a866b51b09b4461 --- /dev/null +++ b/train/FloorPlan408/11/rgb_1_mask_Bathtub|+00.29|+00.29|-00.08.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:930cadc257a4d6a438dff5dd8f4b824f1488d54d9000687c70f581af3863ee95 +size 776450 diff --git a/train/FloorPlan408/11/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png b/train/FloorPlan408/11/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png new file mode 100644 index 0000000000000000000000000000000000000000..96fdb0599a00627fa87075e7053b5e407502dc80 --- /dev/null +++ b/train/FloorPlan408/11/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abdb9be3eecb8107beb029bf2f91976bc1e62fa7ecbe24f1dfaa51d27d9335b2 +size 738403 diff --git a/train/FloorPlan408/11/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png b/train/FloorPlan408/11/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..a1b0e0cc37e4a62a5be0ab6394ce50c5cd3a5427 --- /dev/null +++ b/train/FloorPlan408/11/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0111baa986c4de34c5b64733b9281ecb210573abf1216e2abc3090f9f435465b +size 770567 diff --git a/train/FloorPlan408/11/semantic_0.png b/train/FloorPlan408/11/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fe8eae319a0372487e54b47b84d49b3daf937de4 Binary files /dev/null and b/train/FloorPlan408/11/semantic_0.png differ diff --git a/train/FloorPlan408/11/semantic_1.png b/train/FloorPlan408/11/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..2e84e39e06680898fca48dfdd889e5cca7dd2a16 Binary files /dev/null and b/train/FloorPlan408/11/semantic_1.png differ diff --git a/train/FloorPlan408/12/0.json b/train/FloorPlan408/12/0.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce115f89ecb7bb4ce3a4b242e5924d2de877c96 --- /dev/null +++ b/train/FloorPlan408/12/0.json @@ -0,0 +1,2330 @@ +{ + "object": [ + { + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "object_info": { + "name": "HandTowel_cb917096", + "position": { + "x": -3.0964131355285645, + "y": 1.5870000123977661, + "z": 0.7440000176429749 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "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": 2.026729106903076, + "objectType": "HandTowel", + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-03.13|+01.69|+00.74" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ] + ], + "center": { + "x": -3.0991873741149902, + "y": 1.3917453289031982, + "z": 0.7440000176429749 + }, + "size": { + "x": 0.03856372833251953, + "y": 0.4048881530761719, + "z": 0.12864363193511963 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.0799057483673096, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799057483673096, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "object_info": { + "name": "Cabinet_7b612f17", + "position": { + "x": -2.2860000133514404, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "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": 1.1830687522888184, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9039266109466553, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.094963312149048, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "object_info": { + "name": "Cabinet_96c5b76f", + "position": { + "x": -3.0948708057403564, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-02.93|+00.07|+00.62" + ], + "distance": 1.8235867023468018, + "objectType": "Cabinet", + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.7127976417541504, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.903834342956543, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "object_info": { + "name": "Cabinet_a9306d96", + "position": { + "x": -2.305048942565918, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.1877895593643188, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.305048942565918, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -2.496170997619629, + "y": 0.38809674978256226, + "z": 0.6833549737930298 + }, + "size": { + "x": 0.3822441101074219, + "y": 0.6574722528457642, + "z": 0.5395598411560059 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "object_info": { + "name": "HandTowelHolder_3299cbda", + "position": { + "x": -3.1347131729125977, + "y": 1.6890000104904175, + "z": 0.7440000176429749 + }, + "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": [ + "HandTowel|-03.10|+01.59|+00.74" + ], + "distance": 2.093207597732544, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.086085796356201, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.6566950082778931 + ] + ], + "center": { + "x": -3.1103994846343994, + "y": 1.628441333770752, + "z": 0.7421000003814697 + }, + "size": { + "x": 0.048627376556396484, + "y": 0.21029233932495117, + "z": 0.17080998420715332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "object_info": { + "name": "Cabinet_d552b090", + "position": { + "x": -1.496178150177002, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "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": 0.8733583092689514, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.496178150177002, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -1.6873000860214233, + "y": 0.38809674978256226, + "z": 0.6833548545837402 + }, + "size": { + "x": 0.3822438716888428, + "y": 0.6574722528457642, + "z": 0.5395596027374268 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.399999976158142, + "y": 0.902047336101532, + "z": -1.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 318.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.399999976158142, + "y": 1.577047348022461, + "z": -1.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ToiletPaper|-01.00|+01.03|+00.92", + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Toilet|-01.05|+00.00|+00.55", + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Cloth|-01.18|+01.04|+00.90", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Faucet|-02.68|+01.02|+00.89", + "Cabinet|-02.31|+00.42|+00.43", + "Cabinet|-02.29|+00.39|+00.42", + "Cabinet|-03.09|+00.39|+00.42", + "HandTowel|-03.10|+01.59|+00.74", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "Cabinet|-01.50|+00.42|+00.43", + "HandTowelHolder|-03.13|+01.69|+00.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/12/0_depth_npy.npy b/train/FloorPlan408/12/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..dc48c1d58e524ec1b899918c030e3f99fa97fb77 --- /dev/null +++ b/train/FloorPlan408/12/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e40cab9383ad700d304fb7ce48f0459b0d4c9252809dfe2bb7c67cbc4947a963 +size 3145856 diff --git a/train/FloorPlan408/12/0_semantic_sensor_npy.npy b/train/FloorPlan408/12/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5546ebd0400ac44b219108048dba1619cb485ea0 --- /dev/null +++ b/train/FloorPlan408/12/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbff76d7a06ba84671cd1a8a9da4cdce35ee0efc14813755b96409feeb6c43a3 +size 2359424 diff --git a/train/FloorPlan408/12/1.json b/train/FloorPlan408/12/1.json new file mode 100644 index 0000000000000000000000000000000000000000..bcf45f666568b89601eda12908299950960fedc4 --- /dev/null +++ b/train/FloorPlan408/12/1.json @@ -0,0 +1,1864 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.7000000476837158, + "y": 0.902047336101532, + "z": 0.19999998807907104 + }, + "agent_rotation": { + "x": -0.0, + "y": 17.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.7000000476837158, + "y": 1.577047348022461, + "z": 0.19999998807907104 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ToiletPaper|-01.00|+01.03|+00.92", + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Toilet|-01.05|+00.00|+00.55", + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Cloth|-01.18|+01.04|+00.90", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Towel|-00.49|+01.37|+00.90", + "Faucet|+00.27|+00.67|+00.94", + "ToiletPaper|-00.87|+01.04|+00.95", + "TowelHolder|-00.49|+01.35|+01.01", + "Candle|-00.15|+00.55|+00.80", + "Bathtub|+00.29|+00.29|-00.08" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/12/1_depth_npy.npy b/train/FloorPlan408/12/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c3998c4d0843adb6aa6583874a48049d233ae8e2 --- /dev/null +++ b/train/FloorPlan408/12/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca5d0e18298426a22727821b7294b6ff7cc9965b999e0fa2f8765e0e00e99e66 +size 3145856 diff --git a/train/FloorPlan408/12/1_semantic_sensor_npy.npy b/train/FloorPlan408/12/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5b71c68393ff31959272694bfc448151652f3139 --- /dev/null +++ b/train/FloorPlan408/12/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:def947c87d4d5ce3322cb008c68297a6a1503a7a46ded2b90218e8d4f4e53dc5 +size 2359424 diff --git a/train/FloorPlan408/12/depth_0.png b/train/FloorPlan408/12/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d664204cf1d3d66840e10f6e740727253c61d334 Binary files /dev/null and b/train/FloorPlan408/12/depth_0.png differ diff --git a/train/FloorPlan408/12/depth_1.png b/train/FloorPlan408/12/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e180c4c845176e7ed6a6a64f2c1b89cd03349e19 Binary files /dev/null and b/train/FloorPlan408/12/depth_1.png differ diff --git a/train/FloorPlan408/12/mask_questions.jsonl b/train/FloorPlan408/12/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77bf3bbab3863d5ea08db2374d8cb028615f63b6 --- /dev/null +++ b/train/FloorPlan408/12/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 8183, "folder_dir": "FloorPlan408/12", "pair_name": "0-1:Mirror|-02.31|+01.53|+01.00", "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. Sink\nB. ToiletPaper\nC. HandTowelHolder\nD. Mirror", "answer": "D", "object_name": "Mirror", "image_1": "FloorPlan408/12/rgb_0.png", "image_2": "FloorPlan408/12/rgb_1.png", "mask_image": "FloorPlan408/12/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png", "options": ["Sink", "ToiletPaper", "HandTowelHolder", "Mirror"]} +{"id": 8184, "folder_dir": "FloorPlan408/12", "pair_name": "0-1:SoapBottle|-01.53|+00.95|+00.91", "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. ToiletPaper\nD. SoapBottle", "answer": "D", "object_name": "SoapBottle", "image_1": "FloorPlan408/12/rgb_0.png", "image_2": "FloorPlan408/12/rgb_1.png", "mask_image": "FloorPlan408/12/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png", "options": ["Faucet", "Cabinet", "ToiletPaper", "SoapBottle"]} +{"id": 8185, "folder_dir": "FloorPlan408/12", "pair_name": "0-1:Cloth|-01.18|+01.04|+00.90", "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. Cloth\nB. HandTowel\nC. ToiletPaper\nD. SinkBasin", "answer": "A", "object_name": "Cloth", "image_1": "FloorPlan408/12/rgb_0.png", "image_2": "FloorPlan408/12/rgb_1.png", "mask_image": "FloorPlan408/12/rgb_1_mask_Cloth|-01.18|+01.04|+00.90.png", "options": ["Cloth", "HandTowel", "ToiletPaper", "SinkBasin"]} +{"id": 8186, "folder_dir": "FloorPlan408/12", "pair_name": "0-1:Sink|-01.92|+00.93|+00.68", "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. Faucet\nD. Sink", "answer": "D", "object_name": "Sink", "image_1": "FloorPlan408/12/rgb_0.png", "image_2": "FloorPlan408/12/rgb_1.png", "mask_image": "FloorPlan408/12/rgb_1_mask_Sink|-01.92|+00.93|+00.68.png", "options": ["Cabinet", "ToiletPaper", "Faucet", "Sink"]} diff --git a/train/FloorPlan408/12/questions_distance.jsonl b/train/FloorPlan408/12/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84148bf9709aada49d61358144c0578b38781456 --- /dev/null +++ b/train/FloorPlan408/12/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 2489, "folder_dir": "FloorPlan408/12", "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. HandTowelHolder\nB. HandTowel\nC. CounterTop\nD. Other\n", "answer": "C", "src_object": "Mirror", "target_object": "CounterTop", "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": "HandTowelHolder", "semantic_id": "HandTowelHolder|-03.13|+01.69|+00.74", "distance": 0.8560297338585426, "com": {"x": -3.1103994846343994, "y": 1.628441333770752, "z": 0.7421000003814697}}, {"text": "HandTowel", "semantic_id": "HandTowel|-03.10|+01.59|+00.74", "distance": 0.8495600463328347, "com": {"x": -3.0991873741149902, "y": 1.3917453289031982, "z": 0.7440000176429749}}, {"text": "CounterTop", "semantic_id": "CounterTop|-02.30|+00.95|+00.69", "distance": 0.6537298813219412, "com": {"x": -2.2935121059417725, "y": 0.9349074959754944, "z": 0.7150506973266602}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/12/rgb_0.png", "image_2": "FloorPlan408/12/rgb_1.png"} +{"id": 2490, "folder_dir": "FloorPlan408/12", "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. Mirror\nC. ToiletPaperHanger\nD. Other\n", "answer": "B", "src_object": "CounterTop", "target_object": "Mirror", "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|-01.53|+00.95|+00.91", "distance": 0.7965677220859586, "com": {"x": -1.5259977579116821, "y": 1.063265323638916, "z": 0.8852450847625732}}, {"text": "Mirror", "semantic_id": "Mirror|-02.31|+01.53|+01.00", "distance": 0.6537298813219412, "com": {"x": -2.2980048656463623, "y": 1.5269999504089355, "z": 0.9921230673789978}}, {"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.866412810496118, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/12/rgb_0.png", "image_2": "FloorPlan408/12/rgb_1.png"} +{"id": 2491, "folder_dir": "FloorPlan408/12", "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. Cloth\nC. ToiletPaperHanger\nD. Other\n", "answer": "C", "src_object": "Toilet", "target_object": "ToiletPaperHanger", "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|-01.53|+00.95|+00.91", "distance": 0.7997241034421348, "com": {"x": -1.5259977579116821, "y": 1.063265323638916, "z": 0.8852450847625732}}, {"text": "Cloth", "semantic_id": "Cloth|-01.18|+01.04|+00.90", "distance": 0.6704274199172804, "com": {"x": -1.1760236024856567, "y": 1.066142201423645, "z": 0.9056588411331177}}, {"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.4888136261185132, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/12/rgb_0.png", "image_2": "FloorPlan408/12/rgb_1.png"} diff --git a/train/FloorPlan408/12/rgb_0.png b/train/FloorPlan408/12/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7c94f0561949cda52cc3cc5407b8ed5a780e5bf3 --- /dev/null +++ b/train/FloorPlan408/12/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd4af4c4fc9ebdb7203525c190f872e2cfb7599565fb531137a47d7bd1de0e21 +size 937536 diff --git a/train/FloorPlan408/12/rgb_1.png b/train/FloorPlan408/12/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0b882c39a9049c7dd4f88121af2a0a7b163b22ce --- /dev/null +++ b/train/FloorPlan408/12/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1f9fee87f45688fbd179bcb5c76a08adc3f7a69a7d085f2bc503e1086f46f32 +size 870007 diff --git a/train/FloorPlan408/12/rgb_1_mask_Cloth|-01.18|+01.04|+00.90.png b/train/FloorPlan408/12/rgb_1_mask_Cloth|-01.18|+01.04|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..e27e11e0298f9668bcce997e67a05f0c026613ca --- /dev/null +++ b/train/FloorPlan408/12/rgb_1_mask_Cloth|-01.18|+01.04|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f77f09f26a77d0f57f2ec358408ceb74d83f68d1cbc39c37416363dd8bb38163 +size 759337 diff --git a/train/FloorPlan408/12/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png b/train/FloorPlan408/12/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png new file mode 100644 index 0000000000000000000000000000000000000000..9462d4aa314c51dbb12bad23f6822b6a16c56274 --- /dev/null +++ b/train/FloorPlan408/12/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5457bd49f795b9a28a906305c41adcf3633d1195802ec3d8dfe8cfe824a71fc +size 554434 diff --git a/train/FloorPlan408/12/rgb_1_mask_Sink|-01.92|+00.93|+00.68.png b/train/FloorPlan408/12/rgb_1_mask_Sink|-01.92|+00.93|+00.68.png new file mode 100644 index 0000000000000000000000000000000000000000..46e82afd5f9d7ba6c8dd8cf65f37432999655243 --- /dev/null +++ b/train/FloorPlan408/12/rgb_1_mask_Sink|-01.92|+00.93|+00.68.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1953064b66725729e1675acfbb239fec791f0f394865c733252fb0e75ac366de +size 750824 diff --git a/train/FloorPlan408/12/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png b/train/FloorPlan408/12/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png new file mode 100644 index 0000000000000000000000000000000000000000..75a898151fb846bdb2f60df257e2f6c5ce26c42a --- /dev/null +++ b/train/FloorPlan408/12/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb7f178249c638fc4fa6700e9e840b16120cc25d4fd8e82fd3164ea16e917220 +size 757930 diff --git a/train/FloorPlan408/12/semantic_0.png b/train/FloorPlan408/12/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f1742154cae558b4d7d4cbd459b9c2acbd31d1a8 Binary files /dev/null and b/train/FloorPlan408/12/semantic_0.png differ diff --git a/train/FloorPlan408/12/semantic_1.png b/train/FloorPlan408/12/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f9c68a633d84b3eefc0b1e5474f0ad996aa85c18 Binary files /dev/null and b/train/FloorPlan408/12/semantic_1.png differ diff --git a/train/FloorPlan408/2/0.json b/train/FloorPlan408/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8c8958b210d073c0991d91e7fef314bb36095885 --- /dev/null +++ b/train/FloorPlan408/2/0.json @@ -0,0 +1,3000 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "object_info": { + "name": "Cabinet_7b612f17", + "position": { + "x": -2.2860000133514404, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "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": 1.1830687522888184, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9039266109466553, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.094963312149048, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "object_info": { + "name": "Cabinet_d552b090", + "position": { + "x": -1.496178150177002, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "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": 0.8733583092689514, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.496178150177002, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -1.6873000860214233, + "y": 0.38809674978256226, + "z": 0.6833548545837402 + }, + "size": { + "x": 0.3822438716888428, + "y": 0.6574722528457642, + "z": 0.5395596027374268 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.4000000953674316, + "y": 0.902047336101532, + "z": -0.30000001192092896 + }, + "agent_rotation": { + "x": -0.0, + "y": 28.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.4000000953674316, + "y": 1.577047348022461, + "z": -0.30000001192092896 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Faucet|-02.68|+01.02|+00.89", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cabinet|-02.29|+00.39|+00.42", + "Mirror|-02.31|+01.53|+01.00", + "Sink|-02.68|+00.93|+00.68", + "CounterTop|-02.30|+00.95|+00.69", + "SoapBottle|-01.53|+00.95|+00.91", + "Toilet|-01.05|+00.00|+00.55", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "Cloth|-01.18|+01.04|+00.90", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Towel|-00.49|+01.37|+00.90", + "ToiletPaper|-00.87|+01.04|+00.95", + "Faucet|+00.27|+00.67|+00.94", + "ScrubBrush|-00.49|+00.00|+00.87", + "TowelHolder|-00.49|+01.35|+01.01", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "Cabinet|-01.50|+00.42|+00.43", + "Plunger|-00.71|+00.00|+00.83", + "Bathtub|+00.29|+00.29|-00.08" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/2/0_depth_npy.npy b/train/FloorPlan408/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..99af72157202d6229be036992e84bf3b9f575af1 --- /dev/null +++ b/train/FloorPlan408/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0ddb628993d162f45d4540cfab800cada2c73412f17a487ea56ded7cbd46901 +size 3145856 diff --git a/train/FloorPlan408/2/0_semantic_sensor_npy.npy b/train/FloorPlan408/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5722aceb19ad2199812583d15c2be34e5dd9a720 --- /dev/null +++ b/train/FloorPlan408/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:685130ec7271be4e0b6dc46b645fa83429c9d1255c997ccad734672b487724ab +size 2359424 diff --git a/train/FloorPlan408/2/1.json b/train/FloorPlan408/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..fc0773a3777a764a6d379894e2d7755af52419b8 --- /dev/null +++ b/train/FloorPlan408/2/1.json @@ -0,0 +1,2219 @@ +{ + "object": [ + { + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "object_info": { + "name": "HandTowel_cb917096", + "position": { + "x": -3.0964131355285645, + "y": 1.5870000123977661, + "z": 0.7440000176429749 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "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": 2.026729106903076, + "objectType": "HandTowel", + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-03.13|+01.69|+00.74" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ] + ], + "center": { + "x": -3.0991873741149902, + "y": 1.3917453289031982, + "z": 0.7440000176429749 + }, + "size": { + "x": 0.03856372833251953, + "y": 0.4048881530761719, + "z": 0.12864363193511963 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.0799057483673096, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799057483673096, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "object_info": { + "name": "Cabinet_7b612f17", + "position": { + "x": -2.2860000133514404, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "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": 1.1830687522888184, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9039266109466553, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.094963312149048, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "object_info": { + "name": "Cabinet_96c5b76f", + "position": { + "x": -3.0948708057403564, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-02.93|+00.07|+00.62" + ], + "distance": 1.8235867023468018, + "objectType": "Cabinet", + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.7127976417541504, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.903834342956543, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "object_info": { + "name": "Cabinet_a9306d96", + "position": { + "x": -2.305048942565918, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.1877895593643188, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.305048942565918, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -2.496170997619629, + "y": 0.38809674978256226, + "z": 0.6833549737930298 + }, + "size": { + "x": 0.3822441101074219, + "y": 0.6574722528457642, + "z": 0.5395598411560059 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "object_info": { + "name": "HandTowelHolder_3299cbda", + "position": { + "x": -3.1347131729125977, + "y": 1.6890000104904175, + "z": 0.7440000176429749 + }, + "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": [ + "HandTowel|-03.10|+01.59|+00.74" + ], + "distance": 2.093207597732544, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.086085796356201, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.6566950082778931 + ] + ], + "center": { + "x": -3.1103994846343994, + "y": 1.628441333770752, + "z": 0.7421000003814697 + }, + "size": { + "x": 0.048627376556396484, + "y": 0.21029233932495117, + "z": 0.17080998420715332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.399999976158142, + "y": 0.902047336101532, + "z": -0.20000001788139343 + }, + "agent_rotation": { + "x": -0.0, + "y": 330.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.399999976158142, + "y": 1.577047348022461, + "z": -0.20000001788139343 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Faucet|-02.68|+01.02|+00.89", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cabinet|-02.29|+00.39|+00.42", + "Mirror|-02.31|+01.53|+01.00", + "Sink|-02.68|+00.93|+00.68", + "CounterTop|-02.30|+00.95|+00.69", + "SoapBottle|-01.53|+00.95|+00.91", + "Toilet|-01.05|+00.00|+00.55", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "Cloth|-01.18|+01.04|+00.90", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Cabinet|-02.31|+00.42|+00.43", + "Cabinet|-03.09|+00.39|+00.42", + "HandTowel|-03.10|+01.59|+00.74", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "HandTowelHolder|-03.13|+01.69|+00.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/2/1_depth_npy.npy b/train/FloorPlan408/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..df3e56f27ac221660eaa5e0288ac92222ca34042 --- /dev/null +++ b/train/FloorPlan408/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e10a19fedb9bc3774e50deb9f6529e30785c97737a3cc83a94c6766b16f65e5 +size 3145856 diff --git a/train/FloorPlan408/2/1_semantic_sensor_npy.npy b/train/FloorPlan408/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fa76de13cb6a97b74c5352ceec589be2d80d4123 --- /dev/null +++ b/train/FloorPlan408/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bef1d9382bde8dc39b168b427b3174c0345fb6e73001e4ac8a6f9a5da32cd6d +size 2359424 diff --git a/train/FloorPlan408/2/depth_0.png b/train/FloorPlan408/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..045d6e98889cb677e97d7c043ca21b6e558011bf Binary files /dev/null and b/train/FloorPlan408/2/depth_0.png differ diff --git a/train/FloorPlan408/2/depth_1.png b/train/FloorPlan408/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a9396aef77e26ed0d7e5af66a2a96c2fcd99e71c Binary files /dev/null and b/train/FloorPlan408/2/depth_1.png differ diff --git a/train/FloorPlan408/2/mask_questions.jsonl b/train/FloorPlan408/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70e0b3fd4062fa22d2661bc06172ac1c7af1e591 --- /dev/null +++ b/train/FloorPlan408/2/mask_questions.jsonl @@ -0,0 +1,8 @@ +{"id": 8175, "folder_dir": "FloorPlan408/2", "pair_name": "0-1:Faucet|-02.68|+01.02|+00.89", "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. Bathtub\nC. Plunger\nD. Faucet", "answer": "D", "object_name": "Faucet", "image_1": "FloorPlan408/2/rgb_0.png", "image_2": "FloorPlan408/2/rgb_1.png", "mask_image": "FloorPlan408/2/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png", "options": ["ToiletPaper", "Bathtub", "Plunger", "Faucet"]} +{"id": 8176, "folder_dir": "FloorPlan408/2", "pair_name": "0-1:SoapBottle|-01.53|+00.95|+00.91", "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. TowelHolder\nC. Plunger\nD. SoapBottle", "answer": "D", "object_name": "SoapBottle", "image_1": "FloorPlan408/2/rgb_0.png", "image_2": "FloorPlan408/2/rgb_1.png", "mask_image": "FloorPlan408/2/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png", "options": ["Faucet", "TowelHolder", "Plunger", "SoapBottle"]} +{"id": 8177, "folder_dir": "FloorPlan408/2", "pair_name": "0-1:Faucet|-01.92|+01.02|+00.89", "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. Faucet\nC. Cabinet\nD. Faucet", "answer": "B", "object_name": "Faucet", "image_1": "FloorPlan408/2/rgb_0.png", "image_2": "FloorPlan408/2/rgb_1.png", "mask_image": "FloorPlan408/2/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["TowelHolder", "Faucet", "Cabinet", "Faucet"]} +{"id": 8178, "folder_dir": "FloorPlan408/2", "pair_name": "0-1:Sink|-01.92|+00.93|+00.68|SinkBasin", "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. ScrubBrush\nC. Faucet\nD. Bathtub", "answer": "A", "object_name": "SinkBasin", "image_1": "FloorPlan408/2/rgb_0.png", "image_2": "FloorPlan408/2/rgb_1.png", "mask_image": "FloorPlan408/2/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png", "options": ["SinkBasin", "ScrubBrush", "Faucet", "Bathtub"]} +{"id": 8179, "folder_dir": "FloorPlan408/2", "pair_name": "0-1:Sink|-02.68|+00.93|+00.68|SinkBasin", "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. SinkBasin\nC. Faucet\nD. ToiletPaper", "answer": "B", "object_name": "SinkBasin", "image_1": "FloorPlan408/2/rgb_0.png", "image_2": "FloorPlan408/2/rgb_1.png", "mask_image": "FloorPlan408/2/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png", "options": ["Towel", "SinkBasin", "Faucet", "ToiletPaper"]} +{"id": 8180, "folder_dir": "FloorPlan408/2", "pair_name": "1-0:Faucet|-02.68|+01.02|+00.89", "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. ToiletPaperHanger\nC. ToiletPaper\nD. Cabinet", "answer": "A", "object_name": "Faucet", "image_1": "FloorPlan408/2/rgb_1.png", "image_2": "FloorPlan408/2/rgb_0.png", "mask_image": "FloorPlan408/2/rgb_0_mask_Faucet|-02.68|+01.02|+00.89.png", "options": ["Faucet", "ToiletPaperHanger", "ToiletPaper", "Cabinet"]} +{"id": 8181, "folder_dir": "FloorPlan408/2", "pair_name": "1-0:Faucet|-01.92|+01.02|+00.89", "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. HandTowelHolder\nB. Faucet\nC. Faucet\nD. HandTowel", "answer": "B", "object_name": "Faucet", "image_1": "FloorPlan408/2/rgb_1.png", "image_2": "FloorPlan408/2/rgb_0.png", "mask_image": "FloorPlan408/2/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["HandTowelHolder", "Faucet", "Faucet", "HandTowel"]} +{"id": 8182, "folder_dir": "FloorPlan408/2", "pair_name": "1-0:Sink|-01.92|+00.93|+00.68|SinkBasin", "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. Faucet\nC. SinkBasin\nD. HandTowel", "answer": "C", "object_name": "SinkBasin", "image_1": "FloorPlan408/2/rgb_1.png", "image_2": "FloorPlan408/2/rgb_0.png", "mask_image": "FloorPlan408/2/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png", "options": ["ToiletPaperHanger", "Faucet", "SinkBasin", "HandTowel"]} diff --git a/train/FloorPlan408/2/questions_distance.jsonl b/train/FloorPlan408/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22f9f6774899ff545a5080ebb3db7ab6c6087869 --- /dev/null +++ b/train/FloorPlan408/2/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 2486, "folder_dir": "FloorPlan408/2", "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. HandTowel\nB. HandTowelHolder\nC. CounterTop\nD. Other\n", "answer": "C", "src_object": "Mirror", "target_object": "CounterTop", "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": "HandTowel", "semantic_id": "HandTowel|-03.10|+01.59|+00.74", "distance": 0.8495600463328347, "com": {"x": -3.0991873741149902, "y": 1.3917453289031982, "z": 0.7440000176429749}}, {"text": "HandTowelHolder", "semantic_id": "HandTowelHolder|-03.13|+01.69|+00.74", "distance": 0.8560297338585426, "com": {"x": -3.1103994846343994, "y": 1.628441333770752, "z": 0.7421000003814697}}, {"text": "CounterTop", "semantic_id": "CounterTop|-02.30|+00.95|+00.69", "distance": 0.6537298813219412, "com": {"x": -2.2935121059417725, "y": 0.9349074959754944, "z": 0.7150506973266602}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/2/rgb_0.png", "image_2": "FloorPlan408/2/rgb_1.png"} +{"id": 2487, "folder_dir": "FloorPlan408/2", "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. ToiletPaperHanger\nB. Mirror\nC. SoapBottle\nD. Other\n", "answer": "B", "src_object": "CounterTop", "target_object": "Mirror", "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": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.866412810496118, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "Mirror", "semantic_id": "Mirror|-02.31|+01.53|+01.00", "distance": 0.6537298813219412, "com": {"x": -2.2980048656463623, "y": 1.5269999504089355, "z": 0.9921230673789978}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-01.53|+00.95|+00.91", "distance": 0.7965677220859586, "com": {"x": -1.5259977579116821, "y": 1.063265323638916, "z": 0.8852450847625732}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/2/rgb_0.png", "image_2": "FloorPlan408/2/rgb_1.png"} +{"id": 2488, "folder_dir": "FloorPlan408/2", "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. Plunger\nC. Cloth\nD. Other\n", "answer": "A", "src_object": "Toilet", "target_object": "ToiletPaperHanger", "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|-01.49|+00.81|+00.69", "distance": 0.4888136261185132, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "Plunger", "semantic_id": "Plunger|-00.71|+00.00|+00.83", "distance": 0.5124429560793059, "com": {"x": -0.7109901905059814, "y": 0.27071699500083923, "z": 0.8281076550483704}}, {"text": "Cloth", "semantic_id": "Cloth|-01.18|+01.04|+00.90", "distance": 0.6704274199172804, "com": {"x": -1.1760236024856567, "y": 1.066142201423645, "z": 0.9056588411331177}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/2/rgb_0.png", "image_2": "FloorPlan408/2/rgb_1.png"} diff --git a/train/FloorPlan408/2/rgb_0.png b/train/FloorPlan408/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..bc736ed302765c61979afaaec6f6db8df8a9ae2f --- /dev/null +++ b/train/FloorPlan408/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d51e6632005d255be46bd748c950ee47ac40763501fa112f47f71e86cfa2fd14 +size 806664 diff --git a/train/FloorPlan408/2/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png b/train/FloorPlan408/2/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..5e007891917a02fea17fbaaca4b23ffd047d7a5f --- /dev/null +++ b/train/FloorPlan408/2/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ba471c0c0533a7a1b07bc13aef44e6bc2377a5ece0ca06cf70af73956ce4e49 +size 697168 diff --git a/train/FloorPlan408/2/rgb_0_mask_Faucet|-02.68|+01.02|+00.89.png b/train/FloorPlan408/2/rgb_0_mask_Faucet|-02.68|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..bcee6a3108acfa2c67d4b8a28edbd376cd2cc252 --- /dev/null +++ b/train/FloorPlan408/2/rgb_0_mask_Faucet|-02.68|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74822e8d6b259dbef3cc138a89a32610fa338b1026118b3e069df5f480a16791 +size 671339 diff --git a/train/FloorPlan408/2/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png b/train/FloorPlan408/2/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png new file mode 100644 index 0000000000000000000000000000000000000000..52de9bef062900c84a6610d4480794c68580cdcd --- /dev/null +++ b/train/FloorPlan408/2/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c2ff040db90daca7277192199ae7b94832e37e7baabab5056ae9c5dc10d30b7 +size 701463 diff --git a/train/FloorPlan408/2/rgb_1.png b/train/FloorPlan408/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..235a61593c62c9ecfb12e9b3b1118e82627e4ade --- /dev/null +++ b/train/FloorPlan408/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f085dd21f24fdf26e909777eceb86232327fd8017113eb042e08aba1ee5799f3 +size 957366 diff --git a/train/FloorPlan408/2/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png b/train/FloorPlan408/2/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..860f638e042bad62fc9e18c16fd91aa7e47923cc --- /dev/null +++ b/train/FloorPlan408/2/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a81239f746add725cc30811b66a6c828abe2114ae68ba61127cb6e60193b775 +size 822911 diff --git a/train/FloorPlan408/2/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png b/train/FloorPlan408/2/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..2d550540b5396694dbf8a9e68f7afcdce4dcfbd0 --- /dev/null +++ b/train/FloorPlan408/2/rgb_1_mask_Faucet|-02.68|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc3638c779832710968382adb267141c72c99e8770e2fcc3b74ffd24546bcc5c +size 832646 diff --git a/train/FloorPlan408/2/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png b/train/FloorPlan408/2/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png new file mode 100644 index 0000000000000000000000000000000000000000..22ba406f7397f94c8b78e3e51d7e15bffa0d0a07 --- /dev/null +++ b/train/FloorPlan408/2/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4b3d5929f62a9e7ae80d815cad85e1b02ba42eb7c7b848be688edda84c19717 +size 825159 diff --git a/train/FloorPlan408/2/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png b/train/FloorPlan408/2/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png new file mode 100644 index 0000000000000000000000000000000000000000..8b48a12057941ee7c5e215e5da1d85c8e22ca3ba --- /dev/null +++ b/train/FloorPlan408/2/rgb_1_mask_Sink|-02.68|+00.93|+00.68|SinkBasin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb372a9793b75a6cca27910f2dffe7a8e4d4b556ca456cf35acff20382683df7 +size 837414 diff --git a/train/FloorPlan408/2/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png b/train/FloorPlan408/2/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png new file mode 100644 index 0000000000000000000000000000000000000000..7a4bf4ab7da19cbb9a7c6df4e7b0622a56c685d8 --- /dev/null +++ b/train/FloorPlan408/2/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4efdebd13856692e22a3774ab76228310a5ebaf54b8d6230e00c8a15858eccf5 +size 837372 diff --git a/train/FloorPlan408/2/semantic_0.png b/train/FloorPlan408/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2ee367ca4e9c96fb7828a5df0805a212953bd8b3 Binary files /dev/null and b/train/FloorPlan408/2/semantic_0.png differ diff --git a/train/FloorPlan408/2/semantic_1.png b/train/FloorPlan408/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..73b74c7e487a7e4935568f4c6719c02b2061bf04 Binary files /dev/null and b/train/FloorPlan408/2/semantic_1.png differ diff --git a/train/FloorPlan408/4/1.json b/train/FloorPlan408/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e258ffea39ed18d5e3acdaa9d6518acd56211608 --- /dev/null +++ b/train/FloorPlan408/4/1.json @@ -0,0 +1,2333 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.7999999523162842, + "y": 0.902047336101532, + "z": 0.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 47.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.7999999523162842, + "y": 1.577047348022461, + "z": 0.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Faucet|-01.92|+01.02|+00.89", + "SoapBottle|-01.53|+00.95|+00.91", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Towel|-00.49|+01.37|+00.90", + "Faucet|+00.27|+00.67|+00.94", + "ToiletPaper|-00.87|+01.04|+00.95", + "ScrubBrush|-00.49|+00.00|+00.87", + "ToiletPaper|-01.00|+01.03|+00.92", + "TowelHolder|-00.49|+01.35|+01.01", + "Toilet|-01.05|+00.00|+00.55", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "Plunger|-00.71|+00.00|+00.83", + "Cloth|-01.18|+01.04|+00.90", + "Bathtub|+00.29|+00.29|-00.08" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/4/mask_questions.jsonl b/train/FloorPlan408/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a5f0330f5238296212dc2af83550f3eb60dbeac --- /dev/null +++ b/train/FloorPlan408/4/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 8142, "folder_dir": "FloorPlan408/4", "pair_name": "0-1:Faucet|-01.92|+01.02|+00.89", "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. Sink\nC. Faucet\nD. Cabinet", "answer": "C", "object_name": "Faucet", "image_1": "FloorPlan408/4/rgb_0.png", "image_2": "FloorPlan408/4/rgb_1.png", "mask_image": "FloorPlan408/4/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["Mirror", "Sink", "Faucet", "Cabinet"]} +{"id": 8143, "folder_dir": "FloorPlan408/4", "pair_name": "0-1:SoapBottle|-01.53|+00.95|+00.91", "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. Mirror\nC. Cabinet\nD. SoapBottle", "answer": "D", "object_name": "SoapBottle", "image_1": "FloorPlan408/4/rgb_0.png", "image_2": "FloorPlan408/4/rgb_1.png", "mask_image": "FloorPlan408/4/rgb_1_mask_SoapBottle|-01.53|+00.95|+00.91.png", "options": ["Faucet", "Mirror", "Cabinet", "SoapBottle"]} +{"id": 8144, "folder_dir": "FloorPlan408/4", "pair_name": "1-0:Faucet|-01.92|+01.02|+00.89", "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. ToiletPaper\nC. Faucet\nD. Plunger", "answer": "C", "object_name": "Faucet", "image_1": "FloorPlan408/4/rgb_1.png", "image_2": "FloorPlan408/4/rgb_0.png", "mask_image": "FloorPlan408/4/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["Mirror", "ToiletPaper", "Faucet", "Plunger"]} diff --git a/train/FloorPlan408/5/0.json b/train/FloorPlan408/5/0.json new file mode 100644 index 0000000000000000000000000000000000000000..da32b8811274d9e367f34c04e8436db249f45d2c --- /dev/null +++ b/train/FloorPlan408/5/0.json @@ -0,0 +1,1191 @@ +{ + "object": [ + { + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "object_info": { + "name": "HandTowel_cb917096", + "position": { + "x": -3.0964131355285645, + "y": 1.5870000123977661, + "z": 0.7440000176429749 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "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": 2.026729106903076, + "objectType": "HandTowel", + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-03.13|+01.69|+00.74" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ] + ], + "center": { + "x": -3.0991873741149902, + "y": 1.3917453289031982, + "z": 0.7440000176429749 + }, + "size": { + "x": 0.03856372833251953, + "y": 0.4048881530761719, + "z": 0.12864363193511963 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.0799057483673096, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799057483673096, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "object_info": { + "name": "HandTowelHolder_3299cbda", + "position": { + "x": -3.1347131729125977, + "y": 1.6890000104904175, + "z": 0.7440000176429749 + }, + "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": [ + "HandTowel|-03.10|+01.59|+00.74" + ], + "distance": 2.093207597732544, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.086085796356201, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.6566950082778931 + ] + ], + "center": { + "x": -3.1103994846343994, + "y": 1.628441333770752, + "z": 0.7421000003814697 + }, + "size": { + "x": 0.048627376556396484, + "y": 0.21029233932495117, + "z": 0.17080998420715332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.5, + "y": 0.902047336101532, + "z": -0.20000001788139343 + }, + "agent_rotation": { + "x": -0.0, + "y": 339.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.5, + "y": 1.577047348022461, + "z": -0.20000001788139343 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Faucet|-02.68|+01.02|+00.89", + "HandTowel|-03.10|+01.59|+00.74", + "Sink|-02.68|+00.93|+00.68", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "HandTowelHolder|-03.13|+01.69|+00.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/5/0_depth_npy.npy b/train/FloorPlan408/5/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c4b9641c1f929b275a7d57ee55e733e905c07327 --- /dev/null +++ b/train/FloorPlan408/5/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b26835aed4ded847c7bcafdaaecce66873f8e3f43cbfa8bc3a75f4bc08d911f5 +size 3145856 diff --git a/train/FloorPlan408/5/0_semantic_sensor_npy.npy b/train/FloorPlan408/5/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b1afdf97f76106fe2e5bc3b8d84da47324414cac --- /dev/null +++ b/train/FloorPlan408/5/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfe7fc22aee7e5c952e323b6fc037fda0b04a545e2b3374b861f9d3c24d90009 +size 2359424 diff --git a/train/FloorPlan408/5/1.json b/train/FloorPlan408/5/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f41f62cf4332fea7f817996930ed1979a5a9ab7f --- /dev/null +++ b/train/FloorPlan408/5/1.json @@ -0,0 +1,2662 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "object_info": { + "name": "BathtubBasin_45501309", + "position": { + "x": 0.3497999906539917, + "y": 0.02399998903274536, + "z": -0.13500000536441803 + }, + "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": [], + "distance": 2.0542521476745605, + "objectType": "BathtubBasin", + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6311837434768677, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + -1.020472764968872 + ] + ], + "center": { + "x": 0.34708428382873535, + "y": 0.2314356118440628, + "z": -0.0953139066696167 + }, + "size": { + "x": 0.5681989192962646, + "y": 0.4175412654876709, + "z": 1.8503177165985107 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.2000000476837158, + "y": 0.902047336101532, + "z": -0.4000000059604645 + }, + "agent_rotation": { + "x": -0.0, + "y": 12.999999046325684, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.2000000476837158, + "y": 1.577047348022461, + "z": -0.4000000059604645 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Towel|-00.49|+01.37|+00.90", + "ToiletPaper|-01.00|+01.03|+00.92", + "ToiletPaper|-00.87|+01.04|+00.95", + "Faucet|+00.27|+00.67|+00.94", + "ScrubBrush|-00.49|+00.00|+00.87", + "TowelHolder|-00.49|+01.35|+01.01", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "Cloth|-01.18|+01.04|+00.90", + "Toilet|-01.05|+00.00|+00.55", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "SoapBottle|-01.53|+00.95|+00.91", + "Plunger|-00.71|+00.00|+00.83", + "Bathtub|+00.29|+00.29|-00.08", + "Bathtub|+00.29|+00.29|-00.08|BathtubBasin" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/5/1_depth_npy.npy b/train/FloorPlan408/5/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d9af73e6060c9f97965b85ec4622f395bfa95b6c --- /dev/null +++ b/train/FloorPlan408/5/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2daca1596e01fb567d9a8af373f9819656a2c15311ac8e60803153f395ca2e0 +size 3145856 diff --git a/train/FloorPlan408/5/1_semantic_sensor_npy.npy b/train/FloorPlan408/5/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fb8178e3a5df7eb58c4d63a496826d1792d9a197 --- /dev/null +++ b/train/FloorPlan408/5/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96abb68868db48d83795ff55f76412bb14d560212a92f881764c619fc68b9858 +size 2359424 diff --git a/train/FloorPlan408/5/depth_0.png b/train/FloorPlan408/5/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..264f7c8bf6701ef5806abc17514980aa67d35450 Binary files /dev/null and b/train/FloorPlan408/5/depth_0.png differ diff --git a/train/FloorPlan408/5/depth_1.png b/train/FloorPlan408/5/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d035ad5d1f323b8a5a79baea1257773117cd723c Binary files /dev/null and b/train/FloorPlan408/5/depth_1.png differ diff --git a/train/FloorPlan408/5/mask_questions.jsonl b/train/FloorPlan408/5/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d3b5507e43c31d3683975d34c49d4da6a397bb3 --- /dev/null +++ b/train/FloorPlan408/5/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 8169, "folder_dir": "FloorPlan408/5", "pair_name": "0-1:Mirror|-02.31|+01.53|+01.00", "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. Sink\nB. CounterTop\nC. HandTowelHolder\nD. Mirror", "answer": "D", "object_name": "Mirror", "image_1": "FloorPlan408/5/rgb_0.png", "image_2": "FloorPlan408/5/rgb_1.png", "mask_image": "FloorPlan408/5/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png", "options": ["Sink", "CounterTop", "HandTowelHolder", "Mirror"]} +{"id": 8170, "folder_dir": "FloorPlan408/5", "pair_name": "0-1:Faucet|-01.92|+01.02|+00.89", "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. Faucet\nC. Mirror\nD. Sink", "answer": "B", "object_name": "Faucet", "image_1": "FloorPlan408/5/rgb_0.png", "image_2": "FloorPlan408/5/rgb_1.png", "mask_image": "FloorPlan408/5/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["SinkBasin", "Faucet", "Mirror", "Sink"]} +{"id": 8171, "folder_dir": "FloorPlan408/5", "pair_name": "0-1:Sink|-01.92|+00.93|+00.68|SinkBasin", "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. SinkBasin\nC. Mirror\nD. HandTowel", "answer": "B", "object_name": "SinkBasin", "image_1": "FloorPlan408/5/rgb_0.png", "image_2": "FloorPlan408/5/rgb_1.png", "mask_image": "FloorPlan408/5/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png", "options": ["Faucet", "SinkBasin", "Mirror", "HandTowel"]} +{"id": 8172, "folder_dir": "FloorPlan408/5", "pair_name": "1-0:Faucet|-01.92|+01.02|+00.89", "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. Candle\nC. Mirror\nD. SoapBottle", "answer": "A", "object_name": "Faucet", "image_1": "FloorPlan408/5/rgb_1.png", "image_2": "FloorPlan408/5/rgb_0.png", "mask_image": "FloorPlan408/5/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["Faucet", "Candle", "Mirror", "SoapBottle"]} +{"id": 8173, "folder_dir": "FloorPlan408/5", "pair_name": "1-0:Sink|-01.92|+00.93|+00.68|SinkBasin", "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. SinkBasin\nC. TowelHolder\nD. Mirror", "answer": "B", "object_name": "SinkBasin", "image_1": "FloorPlan408/5/rgb_1.png", "image_2": "FloorPlan408/5/rgb_0.png", "mask_image": "FloorPlan408/5/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png", "options": ["ToiletPaperHanger", "SinkBasin", "TowelHolder", "Mirror"]} diff --git a/train/FloorPlan408/5/questions_distance.jsonl b/train/FloorPlan408/5/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d443fc6e270f9a3607bac17a6bf58102569c399 --- /dev/null +++ b/train/FloorPlan408/5/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 2482, "folder_dir": "FloorPlan408/5", "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. HandTowelHolder\nB. CounterTop\nC. HandTowel\nD. Other\n", "answer": "B", "src_object": "Mirror", "target_object": "CounterTop", "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": "HandTowelHolder", "semantic_id": "HandTowelHolder|-03.13|+01.69|+00.74", "distance": 0.8560297338585426, "com": {"x": -3.1103994846343994, "y": 1.628441333770752, "z": 0.7421000003814697}}, {"text": "CounterTop", "semantic_id": "CounterTop|-02.30|+00.95|+00.69", "distance": 0.6537298813219412, "com": {"x": -2.2935121059417725, "y": 0.9349074959754944, "z": 0.7150506973266602}}, {"text": "HandTowel", "semantic_id": "HandTowel|-03.10|+01.59|+00.74", "distance": 0.8495600463328347, "com": {"x": -3.0991873741149902, "y": 1.3917453289031982, "z": 0.7440000176429749}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/5/rgb_0.png", "image_2": "FloorPlan408/5/rgb_1.png"} +{"id": 2483, "folder_dir": "FloorPlan408/5", "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. ToiletPaperHanger\nB. SoapBottle\nC. Mirror\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "Mirror", "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": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.866412810496118, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-01.53|+00.95|+00.91", "distance": 0.7965677220859586, "com": {"x": -1.5259977579116821, "y": 1.063265323638916, "z": 0.8852450847625732}}, {"text": "Mirror", "semantic_id": "Mirror|-02.31|+01.53|+01.00", "distance": 0.6537298813219412, "com": {"x": -2.2980048656463623, "y": 1.5269999504089355, "z": 0.9921230673789978}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/5/rgb_0.png", "image_2": "FloorPlan408/5/rgb_1.png"} diff --git a/train/FloorPlan408/5/rgb_0.png b/train/FloorPlan408/5/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..73a946fdef7b6ee396dcc4178406c2d825e0b758 --- /dev/null +++ b/train/FloorPlan408/5/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89352de93eab5521e60eae04163d5f24d596329716c5597d5df130c062891893 +size 917189 diff --git a/train/FloorPlan408/5/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png b/train/FloorPlan408/5/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..ce1b0b7ec030e8ef34d2c02f5e53f4eebe4c0e6f --- /dev/null +++ b/train/FloorPlan408/5/rgb_0_mask_Faucet|-01.92|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dab4f9ea6245e738b4cd7497fc29d61b22775bffbc045dbb6a55c316025a296d +size 775179 diff --git a/train/FloorPlan408/5/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png b/train/FloorPlan408/5/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png new file mode 100644 index 0000000000000000000000000000000000000000..70d7881de85934c736f1502c33a8ccea2f214783 --- /dev/null +++ b/train/FloorPlan408/5/rgb_0_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0f205f0b5cb20eef8dff0091e7fca8a2ed4b672790786488957fd7cf11d28f8 +size 795244 diff --git a/train/FloorPlan408/5/rgb_1.png b/train/FloorPlan408/5/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b35b634a6eba94829737cf7d5973fa702b2b5f31 --- /dev/null +++ b/train/FloorPlan408/5/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dab419d81c952833da62a309d9d593cc915b27b4713f403920b751b36c828dff +size 815318 diff --git a/train/FloorPlan408/5/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png b/train/FloorPlan408/5/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..2dc12b1eb05805c36af33ec8ed1007032842f4fe --- /dev/null +++ b/train/FloorPlan408/5/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17cc6e12f3fd4b9a4e2159b8f08a684863f6020e08729f2b7873105760acf73a +size 693537 diff --git a/train/FloorPlan408/5/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png b/train/FloorPlan408/5/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png new file mode 100644 index 0000000000000000000000000000000000000000..facb3f10d42b11c92937ed7392454a6b1aea9a23 --- /dev/null +++ b/train/FloorPlan408/5/rgb_1_mask_Mirror|-02.31|+01.53|+01.00.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85115875ec5779e182e7d2d109150821f0b10ef5a39dc5a0257ce76ebd8df4fb +size 655087 diff --git a/train/FloorPlan408/5/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png b/train/FloorPlan408/5/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png new file mode 100644 index 0000000000000000000000000000000000000000..7adba2cd5ec29c50b7639d0eecaebfcac04ef095 --- /dev/null +++ b/train/FloorPlan408/5/rgb_1_mask_Sink|-01.92|+00.93|+00.68|SinkBasin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99983a90b3e394cbcf2547a616dbc6923b99540b37aafaf615cb43666bb2bf09 +size 710464 diff --git a/train/FloorPlan408/5/semantic_0.png b/train/FloorPlan408/5/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ace8685ee73527a7080420a1904190e4e4aed812 Binary files /dev/null and b/train/FloorPlan408/5/semantic_0.png differ diff --git a/train/FloorPlan408/5/semantic_1.png b/train/FloorPlan408/5/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5212d8ba7ec19c6772ef75142026322804de575c Binary files /dev/null and b/train/FloorPlan408/5/semantic_1.png differ diff --git a/train/FloorPlan408/6/0.json b/train/FloorPlan408/6/0.json new file mode 100644 index 0000000000000000000000000000000000000000..bb1bf058318a8e67c68da59e1cbf274aa9bb6fe0 --- /dev/null +++ b/train/FloorPlan408/6/0.json @@ -0,0 +1,1637 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "object_info": { + "name": "ShowerCurtain_9ca066ad", + "position": { + "x": -0.20999999344348907, + "y": 1.9098000526428223, + "z": -1.0338000059127808 + }, + "rotation": { + "x": -0.0, + "y": 270.0001220703125, + "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": 1.7939140796661377, + "objectType": "ShowerCurtain", + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "assetId": "Shower_Curtain_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08", + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10969603061676025, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -1.0350613594055176 + ] + ], + "center": { + "x": -0.2964516878128052, + "y": 0.987040638923645, + "z": -0.818053126335144 + }, + "size": { + "x": 0.37351131439208984, + "y": 1.9377357959747314, + "z": 0.43401646614074707 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "object_info": { + "name": "BathtubBasin_45501309", + "position": { + "x": 0.3497999906539917, + "y": 0.02399998903274536, + "z": -0.13500000536441803 + }, + "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": [], + "distance": 2.0542521476745605, + "objectType": "BathtubBasin", + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6311837434768677, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + -1.020472764968872 + ] + ], + "center": { + "x": 0.34708428382873535, + "y": 0.2314356118440628, + "z": -0.0953139066696167 + }, + "size": { + "x": 0.5681989192962646, + "y": 0.4175412654876709, + "z": 1.8503177165985107 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.902047336101532, + "z": -0.10000000894069672 + }, + "agent_rotation": { + "x": -0.0, + "y": 80.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.5, + "y": 1.577047348022461, + "z": -0.10000000894069672 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.49|+01.37|+00.90", + "ToiletPaper|-01.00|+01.03|+00.92", + "ToiletPaper|-00.87|+01.04|+00.95", + "TowelHolder|-00.49|+01.35|+01.01", + "Toilet|-01.05|+00.00|+00.55" + ], + "different_object": [ + "Faucet|+00.27|+00.67|+00.94", + "ScrubBrush|-00.49|+00.00|+00.87", + "ShowerCurtain|-00.21|+01.91|-01.03", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "Bathtub|+00.29|+00.29|-00.08", + "Bathtub|+00.29|+00.29|-00.08|BathtubBasin" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/6/0_depth_npy.npy b/train/FloorPlan408/6/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5b5bccba5b227f2807bac40d21dc0572b7f5baee --- /dev/null +++ b/train/FloorPlan408/6/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe63164946b111c46740beea1cb0f18da3f2328024317354f7aa9534117f0a36 +size 3145856 diff --git a/train/FloorPlan408/6/0_semantic_sensor_npy.npy b/train/FloorPlan408/6/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..05db6e9cf41e216f0f6cec38001a9d611b2dd885 --- /dev/null +++ b/train/FloorPlan408/6/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b9a9dbc9b1fd1e034246493eb2c3e4d679542a1a4a3590958f9cef705e513f6 +size 2359424 diff --git a/train/FloorPlan408/6/1.json b/train/FloorPlan408/6/1.json new file mode 100644 index 0000000000000000000000000000000000000000..a669e8d10d46d4df29d348074bea63f32e2446db --- /dev/null +++ b/train/FloorPlan408/6/1.json @@ -0,0 +1,2753 @@ +{ + "object": [ + { + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "object_info": { + "name": "HandTowel_cb917096", + "position": { + "x": -3.0964131355285645, + "y": 1.5870000123977661, + "z": 0.7440000176429749 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "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": 2.026729106903076, + "objectType": "HandTowel", + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-03.13|+01.69|+00.74" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ] + ], + "center": { + "x": -3.0991873741149902, + "y": 1.3917453289031982, + "z": 0.7440000176429749 + }, + "size": { + "x": 0.03856372833251953, + "y": 0.4048881530761719, + "z": 0.12864363193511963 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.0799057483673096, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799057483673096, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "object_info": { + "name": "Cabinet_7b612f17", + "position": { + "x": -2.2860000133514404, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "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": 1.1830687522888184, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.29|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9039266109466553, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -1.9039266109466553, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.2860000133514404, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.094963312149048, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "object_info": { + "name": "Cabinet_96c5b76f", + "position": { + "x": -3.0948708057403564, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-02.93|+00.07|+00.62" + ], + "distance": 1.8235867023468018, + "objectType": "Cabinet", + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.7127976417541504, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.903834342956543, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "object_info": { + "name": "Cabinet_a9306d96", + "position": { + "x": -2.305048942565918, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.1877895593643188, + "objectType": "Cabinet", + "objectId": "Cabinet|-02.31|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.305048942565918, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.305048942565918, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.9531348943710327 + ], + [ + -2.68729305267334, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -2.496170997619629, + "y": 0.38809674978256226, + "z": 0.6833549737930298 + }, + "size": { + "x": 0.3822441101074219, + "y": 0.6574722528457642, + "z": 0.5395598411560059 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "object_info": { + "name": "HandTowelHolder_3299cbda", + "position": { + "x": -3.1347131729125977, + "y": 1.6890000104904175, + "z": 0.7440000176429749 + }, + "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": [ + "HandTowel|-03.10|+01.59|+00.74" + ], + "distance": 2.093207597732544, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.086085796356201, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.6566950082778931 + ] + ], + "center": { + "x": -3.1103994846343994, + "y": 1.628441333770752, + "z": 0.7421000003814697 + }, + "size": { + "x": 0.048627376556396484, + "y": 0.21029233932495117, + "z": 0.17080998420715332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "object_info": { + "name": "Cabinet_d552b090", + "position": { + "x": -1.496178150177002, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "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": 0.8733583092689514, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.496178150177002, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -1.6873000860214233, + "y": 0.38809674978256226, + "z": 0.6833548545837402 + }, + "size": { + "x": 0.3822438716888428, + "y": 0.6574722528457642, + "z": 0.5395596027374268 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.399999976158142, + "y": 0.902047336101532, + "z": -0.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 341.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.399999976158142, + "y": 1.577047348022461, + "z": -0.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.49|+01.37|+00.90", + "ToiletPaper|-01.00|+01.03|+00.92", + "ToiletPaper|-00.87|+01.04|+00.95", + "TowelHolder|-00.49|+01.35|+01.01", + "Toilet|-01.05|+00.00|+00.55" + ], + "different_object": [ + "Faucet|-02.68|+01.02|+00.89", + "Cabinet|-02.31|+00.42|+00.43", + "Sink|-01.92|+00.93|+00.68", + "Cabinet|-02.29|+00.39|+00.42", + "Cabinet|-03.09|+00.39|+00.42", + "HandTowel|-03.10|+01.59|+00.74", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "SoapBottle|-01.53|+00.95|+00.91", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "Cabinet|-01.50|+00.42|+00.43", + "Cloth|-01.18|+01.04|+00.90", + "HandTowelHolder|-03.13|+01.69|+00.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/6/1_depth_npy.npy b/train/FloorPlan408/6/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..809b2c04d904739a9e57802327b8977cd2c98fb9 --- /dev/null +++ b/train/FloorPlan408/6/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f2d54eb21f31c36c6c9df3d359bb83212c6bea587430baffad2fbcf32dcc350 +size 3145856 diff --git a/train/FloorPlan408/6/1_semantic_sensor_npy.npy b/train/FloorPlan408/6/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f5c43bc3f18d360a7f55f972b7e559b882a199e3 --- /dev/null +++ b/train/FloorPlan408/6/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9fef1e4e8e7c67ccf1423912771997113cfad6565fc042972529315338df40a +size 2359424 diff --git a/train/FloorPlan408/6/depth_0.png b/train/FloorPlan408/6/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a3b7c505a7883581ddf7ce942053f31fcba244a9 Binary files /dev/null and b/train/FloorPlan408/6/depth_0.png differ diff --git a/train/FloorPlan408/6/depth_1.png b/train/FloorPlan408/6/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b2349f21c0b38e74d0edc963e65c888ef4d2700f Binary files /dev/null and b/train/FloorPlan408/6/depth_1.png differ diff --git a/train/FloorPlan408/6/mask_questions.jsonl b/train/FloorPlan408/6/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a38da0593509062fca706ae60b4504d1fc4ff578 --- /dev/null +++ b/train/FloorPlan408/6/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 8157, "folder_dir": "FloorPlan408/6", "pair_name": "0-1:Towel|-00.49|+01.37|+00.90", "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. Towel\nC. Candle\nD. ToiletPaper", "answer": "B", "object_name": "Towel", "image_1": "FloorPlan408/6/rgb_0.png", "image_2": "FloorPlan408/6/rgb_1.png", "mask_image": "FloorPlan408/6/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png", "options": ["BathtubBasin", "Towel", "Candle", "ToiletPaper"]} +{"id": 8158, "folder_dir": "FloorPlan408/6", "pair_name": "0-1:ToiletPaper|-01.00|+01.03|+00.92", "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. Candle\nC. Bathtub\nD. Towel", "answer": "A", "object_name": "ToiletPaper", "image_1": "FloorPlan408/6/rgb_0.png", "image_2": "FloorPlan408/6/rgb_1.png", "mask_image": "FloorPlan408/6/rgb_1_mask_ToiletPaper|-01.00|+01.03|+00.92.png", "options": ["ToiletPaper", "Candle", "Bathtub", "Towel"]} +{"id": 8159, "folder_dir": "FloorPlan408/6", "pair_name": "1-0:Towel|-00.49|+01.37|+00.90", "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. ToiletPaper\nC. Sink\nD. Sink", "answer": "A", "object_name": "Towel", "image_1": "FloorPlan408/6/rgb_1.png", "image_2": "FloorPlan408/6/rgb_0.png", "mask_image": "FloorPlan408/6/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png", "options": ["Towel", "ToiletPaper", "Sink", "Sink"]} +{"id": 8160, "folder_dir": "FloorPlan408/6", "pair_name": "1-0:ToiletPaper|-01.00|+01.03|+00.92", "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. Towel\nC. CounterTop\nD. HandTowel", "answer": "A", "object_name": "ToiletPaper", "image_1": "FloorPlan408/6/rgb_1.png", "image_2": "FloorPlan408/6/rgb_0.png", "mask_image": "FloorPlan408/6/rgb_0_mask_ToiletPaper|-01.00|+01.03|+00.92.png", "options": ["ToiletPaper", "Towel", "CounterTop", "HandTowel"]} diff --git a/train/FloorPlan408/6/questions_distance.jsonl b/train/FloorPlan408/6/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21ce1830b6c59a1ebb3e224953cc72020f94f8db --- /dev/null +++ b/train/FloorPlan408/6/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 2475, "folder_dir": "FloorPlan408/6", "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. Cloth\nB. TowelHolder\nC. Candle\nD. Other\n", "answer": "B", "src_object": "Towel", "target_object": "TowelHolder", "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": "Cloth", "semantic_id": "Cloth|-01.18|+01.04|+00.90", "distance": 0.6983140482255419, "com": {"x": -1.1760236024856567, "y": 1.066142201423645, "z": 0.9056588411331177}}, {"text": "TowelHolder", "semantic_id": "TowelHolder|-00.49|+01.35|+01.01", "distance": 0.2748046101750226, "com": {"x": -0.48985883593559265, "y": 1.3530418872833252, "z": 0.9533693790435791}}, {"text": "Candle", "semantic_id": "Candle|-00.15|+00.55|+00.80", "distance": 0.6004179372910794, "com": {"x": -0.15413160622119904, "y": 0.5877456665039062, "z": 0.8018348813056946}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/6/rgb_0.png", "image_2": "FloorPlan408/6/rgb_1.png"} +{"id": 2476, "folder_dir": "FloorPlan408/6", "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. Cloth\nD. Other\n", "answer": "B", "src_object": "Toilet", "target_object": "ToiletPaperHanger", "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|-00.49|+00.00|+00.87", "distance": 0.7168089444891276, "com": {"x": -0.48509740829467773, "y": 0.2392423152923584, "z": 0.8739112019538879}}, {"text": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.4888136261185132, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "Cloth", "semantic_id": "Cloth|-01.18|+01.04|+00.90", "distance": 0.6704274199172804, "com": {"x": -1.1760236024856567, "y": 1.066142201423645, "z": 0.9056588411331177}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/6/rgb_0.png", "image_2": "FloorPlan408/6/rgb_1.png"} diff --git a/train/FloorPlan408/6/rgb_0.png b/train/FloorPlan408/6/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0656dbf6c4a7610bfedab6a91875bac5120f2609 --- /dev/null +++ b/train/FloorPlan408/6/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d20b0b6c1c1d01d4d396d6bd685de61fc7e7c7653f7710b95f833fd976b92705 +size 811430 diff --git a/train/FloorPlan408/6/rgb_0_mask_ToiletPaper|-01.00|+01.03|+00.92.png b/train/FloorPlan408/6/rgb_0_mask_ToiletPaper|-01.00|+01.03|+00.92.png new file mode 100644 index 0000000000000000000000000000000000000000..ed8fc045b945a9e5e7fb448265b68f7ad0b6cd1e --- /dev/null +++ b/train/FloorPlan408/6/rgb_0_mask_ToiletPaper|-01.00|+01.03|+00.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e95ca16a3e15ef4930f5bba7650d900c776a97fcbd2a9e07c89f7a2d2e34bc6 +size 711743 diff --git a/train/FloorPlan408/6/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png b/train/FloorPlan408/6/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..3233025bba05f9d3001e51b3eaee3154d7f8a9d2 --- /dev/null +++ b/train/FloorPlan408/6/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f73ac5055de2b5f2844e814c9e6dc319ab57fffa03c2325bfc6a8e343c49978 +size 695953 diff --git a/train/FloorPlan408/6/rgb_1.png b/train/FloorPlan408/6/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ee4bee810d2ae507c824880ac40a55fca82c340b --- /dev/null +++ b/train/FloorPlan408/6/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e59615bcfabf16603c5a55ceb334d4313f33cddffd5489a510fd737597023a3 +size 899397 diff --git a/train/FloorPlan408/6/rgb_1_mask_ToiletPaper|-01.00|+01.03|+00.92.png b/train/FloorPlan408/6/rgb_1_mask_ToiletPaper|-01.00|+01.03|+00.92.png new file mode 100644 index 0000000000000000000000000000000000000000..330e261e21448c0277d28d8ff51d52b5e135d210 --- /dev/null +++ b/train/FloorPlan408/6/rgb_1_mask_ToiletPaper|-01.00|+01.03|+00.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b9f9673fd6022c2423444daae57e468a42a1a9cc119756f3793f1d131203d8c +size 790201 diff --git a/train/FloorPlan408/6/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png b/train/FloorPlan408/6/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..b9912d52a135281060bf16ec554fcf7189f762b5 --- /dev/null +++ b/train/FloorPlan408/6/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:455dd7e661ed13d8cfa9f6aa70d156e615d7dcc881c608bc9d87baa440732066 +size 775933 diff --git a/train/FloorPlan408/6/semantic_0.png b/train/FloorPlan408/6/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ff070a7d37fa20743d4da08e588544e560a7ba65 Binary files /dev/null and b/train/FloorPlan408/6/semantic_0.png differ diff --git a/train/FloorPlan408/6/semantic_1.png b/train/FloorPlan408/6/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..460ab721927bb17c8fba8dc8d26884afb24710a7 Binary files /dev/null and b/train/FloorPlan408/6/semantic_1.png differ diff --git a/train/FloorPlan408/7/0.json b/train/FloorPlan408/7/0.json new file mode 100644 index 0000000000000000000000000000000000000000..562c3bd662ea7d27789de6f829a8f6f5e6c18d05 --- /dev/null +++ b/train/FloorPlan408/7/0.json @@ -0,0 +1,2620 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -0.8999999761581421, + "y": 0.902047336101532, + "z": -0.4000000059604645 + }, + "agent_rotation": { + "x": -0.0, + "y": 1.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.8999999761581421, + "y": 1.577047348022461, + "z": -0.4000000059604645 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.49|+01.37|+00.90", + "Faucet|+00.27|+00.67|+00.94", + "TowelHolder|-00.49|+01.35|+01.01", + "Candle|-00.15|+00.55|+00.80", + "Bathtub|+00.29|+00.29|-00.08" + ], + "different_object": [ + "Faucet|-02.68|+01.02|+00.89", + "ToiletPaper|-01.00|+01.03|+00.92", + "ToiletPaper|-00.87|+01.04|+00.95", + "ScrubBrush|-00.49|+00.00|+00.87", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "Mirror|-02.31|+01.53|+01.00", + "Toilet|-01.05|+00.00|+00.55", + "Faucet|-01.92|+01.02|+00.89", + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68", + "SoapBottle|-01.53|+00.95|+00.91", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Cloth|-01.18|+01.04|+00.90", + "Plunger|-00.71|+00.00|+00.83", + "Sink|-01.92|+00.93|+00.68" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/7/0_depth_npy.npy b/train/FloorPlan408/7/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6213c0d880bf4108878459ee3ee577034ef8e175 --- /dev/null +++ b/train/FloorPlan408/7/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc05325b52246646de30a586538de1f0936c1e745dc340dc44b75b18d2fa3055 +size 3145856 diff --git a/train/FloorPlan408/7/0_semantic_sensor_npy.npy b/train/FloorPlan408/7/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fa4bc006bf591ac73e74dc12461dec066bdaa3f3 --- /dev/null +++ b/train/FloorPlan408/7/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a78a8cbb1e58f2cccc30b904d8d7d94485d997d46eef758effb56adfb70f2a3 +size 2359424 diff --git a/train/FloorPlan408/7/1.json b/train/FloorPlan408/7/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f57aeaf98af8aa23a64fc2bdd9260c824db9bd3d --- /dev/null +++ b/train/FloorPlan408/7/1.json @@ -0,0 +1,1054 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "object_info": { + "name": "ShowerCurtain_9ca066ad", + "position": { + "x": -0.20999999344348907, + "y": 1.9098000526428223, + "z": -1.0338000059127808 + }, + "rotation": { + "x": -0.0, + "y": 270.0001220703125, + "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": 1.7939140796661377, + "objectType": "ShowerCurtain", + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "assetId": "Shower_Curtain_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08", + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10969603061676025, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -1.0350613594055176 + ] + ], + "center": { + "x": -0.2964516878128052, + "y": 0.987040638923645, + "z": -0.818053126335144 + }, + "size": { + "x": 0.37351131439208984, + "y": 1.9377357959747314, + "z": 0.43401646614074707 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "object_info": { + "name": "BathtubBasin_45501309", + "position": { + "x": 0.3497999906539917, + "y": 0.02399998903274536, + "z": -0.13500000536441803 + }, + "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": [], + "distance": 2.0542521476745605, + "objectType": "BathtubBasin", + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6311837434768677, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + -1.020472764968872 + ] + ], + "center": { + "x": 0.34708428382873535, + "y": 0.2314356118440628, + "z": -0.0953139066696167 + }, + "size": { + "x": 0.5681989192962646, + "y": 0.4175412654876709, + "z": 1.8503177165985107 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.902047336101532, + "z": 0.09999999403953552 + }, + "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": -1.5, + "y": 1.577047348022461, + "z": 0.09999999403953552 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Towel|-00.49|+01.37|+00.90", + "Faucet|+00.27|+00.67|+00.94", + "TowelHolder|-00.49|+01.35|+01.01", + "Candle|-00.15|+00.55|+00.80", + "Bathtub|+00.29|+00.29|-00.08" + ], + "different_object": [ + "ShowerCurtain|-00.21|+01.91|-01.03", + "SoapBar|-00.17|+00.51|+00.53", + "Bathtub|+00.29|+00.29|-00.08|BathtubBasin" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/7/1_depth_npy.npy b/train/FloorPlan408/7/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..769fb992144a30b4c9b84c670b59d2c45f090152 --- /dev/null +++ b/train/FloorPlan408/7/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9e813387783ae1e866825a4123345bb8614fe0dcbacfef75e955c59dc05151a +size 3145856 diff --git a/train/FloorPlan408/7/1_semantic_sensor_npy.npy b/train/FloorPlan408/7/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ed38464891e153178681487837d928a855da5b68 --- /dev/null +++ b/train/FloorPlan408/7/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9bb384b6b622a95064e2636d5815439de34dfa62cf19f5ff1858362ebfa5eb1 +size 2359424 diff --git a/train/FloorPlan408/7/depth_0.png b/train/FloorPlan408/7/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1f33173f26bef10c5f01094cc8b387c4f209fde1 Binary files /dev/null and b/train/FloorPlan408/7/depth_0.png differ diff --git a/train/FloorPlan408/7/depth_1.png b/train/FloorPlan408/7/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cb2aa93f565366c74d79b7c03935fbe660c91c2e Binary files /dev/null and b/train/FloorPlan408/7/depth_1.png differ diff --git a/train/FloorPlan408/7/mask_questions.jsonl b/train/FloorPlan408/7/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10f31382875e822c9e853d1e89cf44a9a4a6d361 --- /dev/null +++ b/train/FloorPlan408/7/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 8145, "folder_dir": "FloorPlan408/7", "pair_name": "0-1:Towel|-00.49|+01.37|+00.90", "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. SinkBasin\nC. Faucet\nD. Sink", "answer": "A", "object_name": "Towel", "image_1": "FloorPlan408/7/rgb_0.png", "image_2": "FloorPlan408/7/rgb_1.png", "mask_image": "FloorPlan408/7/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png", "options": ["Towel", "SinkBasin", "Faucet", "Sink"]} +{"id": 8146, "folder_dir": "FloorPlan408/7", "pair_name": "0-1:Faucet|+00.27|+00.67|+00.94", "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. Faucet\nC. SoapBottle\nD. Towel", "answer": "B", "object_name": "Faucet", "image_1": "FloorPlan408/7/rgb_0.png", "image_2": "FloorPlan408/7/rgb_1.png", "mask_image": "FloorPlan408/7/rgb_1_mask_Faucet|+00.27|+00.67|+00.94.png", "options": ["CounterTop", "Faucet", "SoapBottle", "Towel"]} +{"id": 8147, "folder_dir": "FloorPlan408/7", "pair_name": "1-0:Towel|-00.49|+01.37|+00.90", "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. SoapBar\nB. Faucet\nC. ShowerCurtain\nD. Towel", "answer": "D", "object_name": "Towel", "image_1": "FloorPlan408/7/rgb_1.png", "image_2": "FloorPlan408/7/rgb_0.png", "mask_image": "FloorPlan408/7/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png", "options": ["SoapBar", "Faucet", "ShowerCurtain", "Towel"]} +{"id": 8148, "folder_dir": "FloorPlan408/7", "pair_name": "1-0:Faucet|+00.27|+00.67|+00.94", "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. SoapBar\nC. ShowerCurtain\nD. Faucet", "answer": "D", "object_name": "Faucet", "image_1": "FloorPlan408/7/rgb_1.png", "image_2": "FloorPlan408/7/rgb_0.png", "mask_image": "FloorPlan408/7/rgb_0_mask_Faucet|+00.27|+00.67|+00.94.png", "options": ["Towel", "SoapBar", "ShowerCurtain", "Faucet"]} diff --git a/train/FloorPlan408/7/rgb_0.png b/train/FloorPlan408/7/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..55da61d443a6153a68dc13ba6f549d68d7bb31bf --- /dev/null +++ b/train/FloorPlan408/7/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfa20f08bc336582ab85db41ab63378377bec432b087a80c0a9e88ec0b9b46e6 +size 791228 diff --git a/train/FloorPlan408/7/rgb_0_mask_Faucet|+00.27|+00.67|+00.94.png b/train/FloorPlan408/7/rgb_0_mask_Faucet|+00.27|+00.67|+00.94.png new file mode 100644 index 0000000000000000000000000000000000000000..bdaf116274298f856cc2830149b2d03cccf4cec1 --- /dev/null +++ b/train/FloorPlan408/7/rgb_0_mask_Faucet|+00.27|+00.67|+00.94.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd48cb1920450acde5494283c38c578fc2f8202df70f826fe6c9ca7709f37f01 +size 691171 diff --git a/train/FloorPlan408/7/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png b/train/FloorPlan408/7/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..ae57f47ad8816f9fd7968aad2ba1cd26fd08e421 --- /dev/null +++ b/train/FloorPlan408/7/rgb_0_mask_Towel|-00.49|+01.37|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cb90f04a332dd09a8da905649dfd16159b6d8e2b4eb3cb35afb0d0a29cc9986 +size 687825 diff --git a/train/FloorPlan408/7/rgb_1.png b/train/FloorPlan408/7/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6a8a3a76b8a7954972b6f3862c55dd364e8330e8 --- /dev/null +++ b/train/FloorPlan408/7/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e4ffe8dbece733a62d4dd59fd047394fbcb785f31670e11f66f15b55a1728de +size 788532 diff --git a/train/FloorPlan408/7/rgb_1_mask_Faucet|+00.27|+00.67|+00.94.png b/train/FloorPlan408/7/rgb_1_mask_Faucet|+00.27|+00.67|+00.94.png new file mode 100644 index 0000000000000000000000000000000000000000..47d68691a8abf99f335a00e9ff4ac07688785d0b --- /dev/null +++ b/train/FloorPlan408/7/rgb_1_mask_Faucet|+00.27|+00.67|+00.94.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fda7fb5870355145143d2a2b9824d35a04d158e0fade121d9253b4a4169f4dd +size 688724 diff --git a/train/FloorPlan408/7/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png b/train/FloorPlan408/7/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png new file mode 100644 index 0000000000000000000000000000000000000000..f49305541ff0647f12618c28bc47a0652b36b357 --- /dev/null +++ b/train/FloorPlan408/7/rgb_1_mask_Towel|-00.49|+01.37|+00.90.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67063ef0cc5c24edb4262895348b875a335a899b0c32b809e0d1928bfcc76927 +size 690303 diff --git a/train/FloorPlan408/7/semantic_0.png b/train/FloorPlan408/7/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cf5901cc1159aad03794186631fe9f1e33ff6a40 Binary files /dev/null and b/train/FloorPlan408/7/semantic_0.png differ diff --git a/train/FloorPlan408/7/semantic_1.png b/train/FloorPlan408/7/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..06142e2c908f15c28d1287e03f61f496bddbad83 Binary files /dev/null and b/train/FloorPlan408/7/semantic_1.png differ diff --git a/train/FloorPlan408/8/0.json b/train/FloorPlan408/8/0.json new file mode 100644 index 0000000000000000000000000000000000000000..dc55caa299be87a978ee5c070dde3d87dc921c6b --- /dev/null +++ b/train/FloorPlan408/8/0.json @@ -0,0 +1,2885 @@ +{ + "object": [ + { + "objectId": "Candle|-00.15|+00.55|+00.80", + "object_info": { + "name": "Candle_d61132d8", + "position": { + "x": -0.15413059294223785, + "y": 0.5499448180198669, + "z": 0.8018494248390198 + }, + "rotation": { + "x": 0.021710621193051338, + "y": 4.506716504693031e-05, + "z": -0.0020378606859594584 + }, + "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": 1.7746585607528687, + "objectType": "Candle", + "objectId": "Candle|-00.15|+00.55|+00.80", + "assetId": "Candle_4", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12847355008125305, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.12847355008125305, + 0.50883948802948, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.6666518449783325, + 0.7761757373809814 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.8274940252304077 + ], + [ + -0.17978966236114502, + 0.50883948802948, + 0.7761757373809814 + ] + ], + "center": { + "x": -0.15413160622119904, + "y": 0.5877456665039062, + "z": 0.8018348813056946 + }, + "size": { + "x": 0.05131611227989197, + "y": 0.15781235694885254, + "z": 0.05131828784942627 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.12847375869750977, + 0.5088386535644531, + 0.8274912238121033 + ], + [ + -0.17978934943675995, + 0.5088410973548889, + 0.8274915814399719 + ], + [ + -0.17978975176811218, + 0.508861780166626, + 0.7761760354042053 + ], + [ + -0.128474161028862, + 0.5088593363761902, + 0.7761756777763367 + ], + [ + -0.12846632301807404, + 0.6666401624679565, + 0.8275548219680786 + ], + [ + -0.17978191375732422, + 0.6666426062583923, + 0.827555239200592 + ], + [ + -0.17978230118751526, + 0.6666632890701294, + 0.7762396931648254 + ], + [ + -0.12846671044826508, + 0.6666609048843384, + 0.776239275932312 + ] + ] + } + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "object_info": { + "name": "Bathtub_5ee7a220", + "position": { + "x": 0.2865270972251892, + "y": 0.2906137704849243, + "z": -0.07722926139831543 + }, + "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|-00.15|+00.55|+00.80", + "SoapBar|-00.17|+00.51|+00.53", + "ShowerCurtain|-00.21|+01.91|-01.03" + ], + "distance": 1.9013566970825195, + "objectType": "Bathtub", + "objectId": "Bathtub|+00.29|+00.29|-00.08", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9113202095031738, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + 0.9113202095031738, + 0.024144291877746582, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.5095052719116211, + -1.1024467945098877 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + 0.9467263221740723 + ], + [ + -0.23542475700378418, + 0.024144291877746582, + -1.1024467945098877 + ] + ], + "center": { + "x": 0.3379477262496948, + "y": 0.26682478189468384, + "z": -0.07786023616790771 + }, + "size": { + "x": 1.146744966506958, + "y": 0.4853609800338745, + "z": 2.04917311668396 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "object_info": { + "name": "TowelHolder_688280e1", + "position": { + "x": -0.49000000953674316, + "y": 1.3530000448226929, + "z": 1.009554386138916 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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|-00.49|+01.37|+00.90" + ], + "distance": 1.7141735553741455, + "objectType": "TowelHolder", + "objectId": "TowelHolder|-00.49|+01.35|+01.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.24966800212860107, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.24966800212860107, + 1.3322298526763916, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3738539218902588, + 0.8973132371902466 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 1.0094255208969116 + ], + [ + -0.7300496697425842, + 1.3322298526763916, + 0.8973132371902466 + ] + ], + "center": { + "x": -0.48985883593559265, + "y": 1.3530418872833252, + "z": 0.9533693790435791 + }, + "size": { + "x": 0.48038166761398315, + "y": 0.04162406921386719, + "z": 0.11211228370666504 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "object_info": { + "name": "ToiletPaper_2fa42180", + "position": { + "x": -0.8653968572616577, + "y": 1.0364967584609985, + "z": 0.9463933110237122 + }, + "rotation": { + "x": 359.53814697265625, + "y": 359.9512023925781, + "z": 359.9510803222656 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.4050958156585693, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-00.87|+01.04|+00.95", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8460206389427185, + 1.0366785526275635, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.1590063571929932, + 0.9262459874153137 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9654849171638489 + ], + [ + -0.8846394419670105, + 1.0366785526275635, + 0.9262459874153137 + ] + ], + "center": { + "x": -0.8653300404548645, + "y": 1.0978424549102783, + "z": 0.9458654522895813 + }, + "size": { + "x": 0.03861880302429199, + "y": 0.12232780456542969, + "z": 0.039238929748535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8461502194404602, + 1.0369541645050049, + 0.9656713008880615 + ], + [ + -0.8846786022186279, + 1.0369960069656372, + 0.9656358361244202 + ], + [ + -0.8846434950828552, + 1.0366648435592651, + 0.9271087646484375 + ], + [ + -0.8461151719093323, + 1.0366230010986328, + 0.9271441698074341 + ], + [ + -0.8460167050361633, + 1.159019947052002, + 0.9646223187446594 + ], + [ + -0.8845450282096863, + 1.1590617895126343, + 0.9645868539810181 + ], + [ + -0.8845099806785583, + 1.1587306261062622, + 0.9260597825050354 + ], + [ + -0.8459816575050354, + 1.1586887836456299, + 0.926095187664032 + ] + ] + } + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "object_info": { + "name": "ToiletPaper_b0341fa0", + "position": { + "x": -0.9974989891052246, + "y": 1.0347437858581543, + "z": 0.918260395526886 + }, + "rotation": { + "x": 359.47021484375, + "y": 0.01315320935100317, + "z": 359.86163330078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.3244900703430176, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|-01.00|+01.03|+00.92", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.9444754123687744, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -0.9444754123687744, + 1.0365477800369263, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.1554466485977173, + 0.8654716610908508 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.9699190258979797 + ], + [ + -1.0488276481628418, + 1.0365477800369263, + 0.8654716610908508 + ] + ], + "center": { + "x": -0.9966515302658081, + "y": 1.0959972143173218, + "z": 0.9176953434944153 + }, + "size": { + "x": 0.10435223579406738, + "y": 0.11889886856079102, + "z": 0.1044473648071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.9446229338645935, + 1.037091612815857, + 0.9703881740570068 + ], + [ + -1.0489414930343628, + 1.0373435020446777, + 0.9704098105430603 + ], + [ + -1.0489654541015625, + 1.0363789796829224, + 0.8660954236984253 + ], + [ + -0.9446468949317932, + 1.0361270904541016, + 0.8660738468170166 + ], + [ + -0.9443369507789612, + 1.1556241512298584, + 0.9692921042442322 + ], + [ + -1.0486555099487305, + 1.1558761596679688, + 0.9693136811256409 + ], + [ + -1.0486794710159302, + 1.1549115180969238, + 0.8649993538856506 + ], + [ + -0.9443609118461609, + 1.154659628868103, + 0.8649777173995972 + ] + ] + } + } + }, + { + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "object_info": { + "name": "SoapBar_bfb82123", + "position": { + "x": -0.16798777878284454, + "y": 0.5091400742530823, + "z": 0.5289922952651978 + }, + "rotation": { + "x": -0.0042963395826518536, + "y": 0.004545377567410469, + "z": 359.915771484375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6173622608184814, + "objectType": "SoapBar", + "objectId": "SoapBar|-00.17|+00.51|+00.53", + "assetId": "Soap_Bar_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1406618058681488, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.1406618058681488, + 0.5089150667190552, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5336401462554932, + 0.4832623600959778 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089150667190552, + 0.4832623600959778 + ] + ], + "center": { + "x": -0.1679697483778, + "y": 0.5212776064872742, + "z": 0.5289913415908813 + }, + "size": { + "x": 0.05461588501930237, + "y": 0.02472507953643799, + "z": 0.09145796298980713 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.14069825410842896, + 0.5089220404624939, + 0.5747159719467163 + ], + [ + -0.1952703893184662, + 0.5090028047561646, + 0.5747203230857849 + ], + [ + -0.19527769088745117, + 0.5089958310127258, + 0.4832686185836792 + ], + [ + -0.14070555567741394, + 0.5089150667190552, + 0.4832642674446106 + ], + [ + -0.1406618058681488, + 0.5335593819618225, + 0.5747141242027283 + ], + [ + -0.19523394107818604, + 0.5336400866508484, + 0.5747184753417969 + ], + [ + -0.19524124264717102, + 0.5336331129074097, + 0.4832667410373688 + ], + [ + -0.1406691074371338, + 0.5335524082183838, + 0.48326238989830017 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "object_info": { + "name": "SoapBottle_9b3c006a", + "position": { + "x": -1.5259989500045776, + "y": 0.9539412260055542, + "z": 0.9070026278495789 + }, + "rotation": { + "x": -0.0006580821936950088, + "y": 180.00059509277344, + "z": 0.0018213624134659767 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.208397388458252, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-01.53|+00.95|+00.91", + "assetId": "Soap_Bottle_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4779925346374512, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.4779925346374512, + 0.953253984451294, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 1.173276662826538, + 0.8163198232650757 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.9541703462600708 + ], + [ + -1.574002981185913, + 0.953253984451294, + 0.8163198232650757 + ] + ], + "center": { + "x": -1.5259977579116821, + "y": 1.063265323638916, + "z": 0.8852450847625732 + }, + "size": { + "x": 0.09601044654846191, + "y": 0.22002267837524414, + "z": 0.13785052299499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.5740034580230713, + 0.9532588124275208, + 0.8163176774978638 + ], + [ + -1.4779967069625854, + 0.9532555341720581, + 0.8163166642189026 + ], + [ + -1.4779951572418213, + 0.9532538056373596, + 0.9541683197021484 + ], + [ + -1.5740020275115967, + 0.9532570838928223, + 0.9541693329811096 + ], + [ + -1.5739959478378296, + 1.1732783317565918, + 0.8163204789161682 + ], + [ + -1.4779891967773438, + 1.1732749938964844, + 0.816319465637207 + ], + [ + -1.4779877662658691, + 1.1732733249664307, + 0.9541710615158081 + ], + [ + -1.573994517326355, + 1.1732765436172485, + 0.9541720747947693 + ] + ] + } + } + }, + { + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "object_info": { + "name": "ShowerCurtain_9ca066ad", + "position": { + "x": -0.20999999344348907, + "y": 1.9098000526428223, + "z": -1.0338000059127808 + }, + "rotation": { + "x": -0.0, + "y": 270.0001220703125, + "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": 1.7939140796661377, + "objectType": "ShowerCurtain", + "objectId": "ShowerCurtain|-00.21|+01.91|-01.03", + "assetId": "Shower_Curtain_1", + "parentReceptacles": [ + "Bathtub|+00.29|+00.29|-00.08", + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10969603061676025, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.10969603061676025, + 0.018172740936279297, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 1.9559085369110107, + -1.0350613594055176 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -0.6010448932647705 + ], + [ + -0.4832073450088501, + 0.018172740936279297, + -1.0350613594055176 + ] + ], + "center": { + "x": -0.2964516878128052, + "y": 0.987040638923645, + "z": -0.818053126335144 + }, + "size": { + "x": 0.37351131439208984, + "y": 1.9377357959747314, + "z": 0.43401646614074707 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "object_info": { + "name": "BathtubBasin_45501309", + "position": { + "x": 0.3497999906539917, + "y": 0.02399998903274536, + "z": -0.13500000536441803 + }, + "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": [], + "distance": 2.0542521476745605, + "objectType": "BathtubBasin", + "objectId": "Bathtub|+00.29|+00.29|-00.08|BathtubBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6311837434768677, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.6311837434768677, + 0.022664979100227356, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.44020622968673706, + -1.020472764968872 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + 0.8298449516296387 + ], + [ + 0.06298482418060303, + 0.022664979100227356, + -1.020472764968872 + ] + ], + "center": { + "x": 0.34708428382873535, + "y": 0.2314356118440628, + "z": -0.0953139066696167 + }, + "size": { + "x": 0.5681989192962646, + "y": 0.4175412654876709, + "z": 1.8503177165985107 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "object_info": { + "name": "ToiletPaperHanger_f1dc3a98", + "position": { + "x": -1.4850000143051147, + "y": 0.8050000071525574, + "z": 0.6919999718666077 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 0.9968485832214355, + "objectType": "ToiletPaperHanger", + "objectId": "ToiletPaperHanger|-01.49|+00.81|+00.69", + "assetId": "Toilet_Paper_Hanger_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.401731014251709, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.401731014251709, + 0.7909999489784241, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.8199577927589417, + 0.5090007781982422 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.7097216844558716 + ], + [ + -1.4850001335144043, + 0.7909999489784241, + 0.5090007781982422 + ] + ], + "center": { + "x": -1.4433655738830566, + "y": 0.8054788708686829, + "z": 0.6093612313270569 + }, + "size": { + "x": 0.08326911926269531, + "y": 0.028957843780517578, + "z": 0.2007209062576294 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|-01.05|+00.00|+00.55", + "object_info": { + "name": "Toilet_15982eaf", + "position": { + "x": -1.0540000200271606, + "y": 0.001047968864440918, + "z": 0.5529999732971191 + }, + "rotation": { + "x": -0.0, + "y": 180.00030517578125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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|-00.87|+01.04|+00.95", + "ToiletPaper|-01.00|+01.03|+00.92", + "Cloth|-01.18|+01.04|+00.90" + ], + "distance": 1.318455457687378, + "objectType": "Toilet", + "objectId": "Toilet|-01.05|+00.00|+00.55", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7894127368927002, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -0.7894127368927002, + -0.0007207393646240234, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + 1.0371922254562378, + 0.052590370178222656 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 1.0254604816436768 + ], + [ + -1.3189020156860352, + -0.0007207393646240234, + 0.052590370178222656 + ] + ], + "center": { + "x": -1.0541573762893677, + "y": 0.5182357430458069, + "z": 0.5390254259109497 + }, + "size": { + "x": 0.529489278793335, + "y": 1.0379129648208618, + "z": 0.9728701114654541 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|-00.71|+00.00|+00.83", + "object_info": { + "name": "Plunger_a0285682", + "position": { + "x": -0.7109894752502441, + "y": 0.0005849823355674744, + "z": 0.8281788229942322 + }, + "rotation": { + "x": -0.0011766186216846108, + "y": 0.0010749464854598045, + "z": 0.0007815359858796 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.6455879211425781, + "objectType": "Plunger", + "objectId": "Plunger|-00.71|+00.00|+00.83", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395090103149, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.6368395090103149, + 0.0010463893413543701, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.5403876304626465, + 0.7541019916534424 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.9021133184432983 + ], + [ + -0.785140872001648, + 0.0010463893413543701, + 0.7541019916534424 + ] + ], + "center": { + "x": -0.7109901905059814, + "y": 0.27071699500083923, + "z": 0.8281076550483704 + }, + "size": { + "x": 0.148301362991333, + "y": 0.5393412113189697, + "z": 0.14801132678985596 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6368395686149597, + 0.001051488914526999, + 0.9021105766296387 + ], + [ + -0.7851365804672241, + 0.0010494424495846033, + 0.9021133184432983 + ], + [ + -0.7851393818855286, + 0.0010463979560881853, + 0.754106879234314 + ], + [ + -0.6368423700332642, + 0.0010484445374459028, + 0.7541041374206543 + ], + [ + -0.6368470191955566, + 0.5403897166252136, + 0.9020994305610657 + ], + [ + -0.785144031047821, + 0.5403876900672913, + 0.9021022319793701 + ], + [ + -0.7851468324661255, + 0.5403845906257629, + 0.7540957927703857 + ], + [ + -0.6368498206138611, + 0.5403866171836853, + 0.7540929913520813 + ] + ] + } + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Towel|-00.49|+01.37|+00.90", + "object_info": { + "name": "Towel_a46f87b3", + "position": { + "x": -0.49000051617622375, + "y": 1.3670001029968262, + "z": 0.9026544094085693 + }, + "rotation": { + "x": -0.0, + "y": 180.00025939941406, + "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": 1.6378819942474365, + "objectType": "Towel", + "objectId": "Towel|-00.49|+01.37|+00.90", + "assetId": "Bath_Towel_3", + "parentReceptacles": [ + "TowelHolder|-00.49|+01.35|+01.01" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.878443717956543 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 0.7877682447433472, + 0.878443717956543 + ] + ], + "center": { + "x": -0.47795620560646057, + "y": 1.0837644338607788, + "z": 0.8998385071754456 + }, + "size": { + "x": 0.2975953221321106, + "y": 0.5919923782348633, + "z": 0.042789578437805176 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.6267538666725159, + 0.7877682447433472, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 0.7877682447433472, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 0.7877682447433472, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 0.7877682447433472, + 0.9212332963943481 + ], + [ + -0.6267538666725159, + 1.3797606229782104, + 0.8784451484680176 + ], + [ + -0.3291587233543396, + 1.3797606229782104, + 0.8784437775611877 + ], + [ + -0.3291585445404053, + 1.3797606229782104, + 0.9212318658828735 + ], + [ + -0.6267536878585815, + 1.3797606229782104, + 0.9212332963943481 + ] + ] + } + } + }, + { + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "object_info": { + "name": "ScrubBrush_85b651e2", + "position": { + "x": -0.485097199678421, + "y": 0.0010479539632797241, + "z": 0.8739112019538879 + }, + "rotation": { + "x": 8.020912355277687e-05, + "y": 0.0002529198245611042, + "z": 0.00018683589587453753 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 1.7944066524505615, + "objectType": "ScrubBrush", + "objectId": "ScrubBrush|-00.49|+00.00|+00.87", + "assetId": "Scrub_Brush_1", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.41894662380218506, + 0.001047670841217041, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.47743695974349976, + 0.8069826364517212 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.9408397674560547 + ], + [ + -0.5512481927871704, + 0.001047670841217041, + 0.8069826364517212 + ] + ], + "center": { + "x": -0.48509740829467773, + "y": 0.2392423152923584, + "z": 0.8739112019538879 + }, + "size": { + "x": 0.13230156898498535, + "y": 0.4763892889022827, + "z": 0.1338571310043335 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.41894662380218506, + 0.0010480937780812383, + 0.9408391118049622 + ], + [ + -0.5512471795082092, + 0.0010476709576323628, + 0.9408397078514099 + ], + [ + -0.551247775554657, + 0.0010478439508005977, + 0.8069832921028137 + ], + [ + -0.4189472198486328, + 0.001048266771249473, + 0.806982696056366 + ], + [ + -0.41894811391830444, + 0.4774370491504669, + 0.9408397674560547 + ], + [ + -0.5512487292289734, + 0.4774366319179535, + 0.9408403038978577 + ], + [ + -0.5512493252754211, + 0.4774368107318878, + 0.8069838881492615 + ], + [ + -0.4189487099647522, + 0.47743722796440125, + 0.8069833517074585 + ] + ] + } + } + }, + { + "objectId": "Faucet|+00.27|+00.67|+00.94", + "object_info": { + "name": "Faucet_53c2a436", + "position": { + "x": 0.27059999108314514, + "y": 0.6700654029846191, + "z": 0.9419999718666077 + }, + "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": 2.1751790046691895, + "objectType": "Faucet", + "objectId": "Faucet|+00.27|+00.67|+00.94", + "assetId": "Bathtub_Faucet_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.33254802227020264, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.33254802227020264, + 0.6126949787139893, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.9740593433380127, + 0.7494937181472778 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.9470442533493042 + ], + [ + 0.1929740309715271, + 0.6126949787139893, + 0.7494937181472778 + ] + ], + "center": { + "x": 0.26276102662086487, + "y": 0.793377161026001, + "z": 0.848268985748291 + }, + "size": { + "x": 0.13957399129867554, + "y": 0.36136436462402344, + "z": 0.19755053520202637 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "object_info": { + "name": "Cabinet_d552b090", + "position": { + "x": -1.496178150177002, + "y": 0.41535457968711853, + "z": 0.4251691997051239 + }, + "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": 0.8733583092689514, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.50|+00.42|+00.43", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.496178150177002, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.496178150177002, + 0.059360623359680176, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.7168328762054443, + 0.41357505321502686 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.9531346559524536 + ], + [ + -1.8784220218658447, + 0.059360623359680176, + 0.41357505321502686 + ] + ], + "center": { + "x": -1.6873000860214233, + "y": 0.38809674978256226, + "z": 0.6833548545837402 + }, + "size": { + "x": 0.3822438716888428, + "y": 0.6574722528457642, + "z": 0.5395596027374268 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cloth|-01.18|+01.04|+00.90", + "object_info": { + "name": "Cloth_13688af0", + "position": { + "x": -1.176093578338623, + "y": 1.0369946956634521, + "z": 0.901003360748291 + }, + "rotation": { + "x": 0.003653819439932704, + "y": 0.0020542931742966175, + "z": 0.042072784155607224 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "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": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.04500000178813934, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2512134313583374, + "objectType": "Cloth", + "objectId": "Cloth|-01.18|+01.04|+00.90", + "assetId": "Cloth_2", + "parentReceptacles": [ + "Toilet|-01.05|+00.00|+00.55" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0718573331832886, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.0718573331832886, + 1.037003755569458, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.095280647277832, + 0.8137447834014893 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.9975728988647461 + ], + [ + -1.280189871788025, + 1.037003755569458, + 0.8137447834014893 + ] + ], + "center": { + "x": -1.1760236024856567, + "y": 1.066142201423645, + "z": 0.9056588411331177 + }, + "size": { + "x": 0.20833253860473633, + "y": 0.05827689170837402, + "z": 0.18382811546325684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0718536376953125, + 1.0370851755142212, + 0.9975695610046387 + ], + [ + -1.280177354812622, + 1.036932110786438, + 0.9975770115852356 + ], + [ + -1.2801839113235474, + 1.0369430780410767, + 0.8137456774711609 + ], + [ + -1.0718601942062378, + 1.0370961427688599, + 0.813738226890564 + ], + [ + -1.0718964338302612, + 1.095342755317688, + 0.9975730180740356 + ], + [ + -1.2802201509475708, + 1.0951896905899048, + 0.9975805282592773 + ], + [ + -1.280226707458496, + 1.0952006578445435, + 0.8137491941452026 + ], + [ + -1.0719029903411865, + 1.0953537225723267, + 0.8137416839599609 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -0.8999999761581421, + "y": 0.902047336101532, + "z": -1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 24.999998092651367, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.8999999761581421, + "y": 1.577047348022461, + "z": -1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Towel|-00.49|+01.37|+00.90", + "ToiletPaper|-01.00|+01.03|+00.92", + "ToiletPaper|-00.87|+01.04|+00.95", + "Faucet|+00.27|+00.67|+00.94", + "ScrubBrush|-00.49|+00.00|+00.87", + "ShowerCurtain|-00.21|+01.91|-01.03", + "TowelHolder|-00.49|+01.35|+01.01", + "ToiletPaperHanger|-01.49|+00.81|+00.69", + "Cloth|-01.18|+01.04|+00.90", + "Toilet|-01.05|+00.00|+00.55", + "SoapBar|-00.17|+00.51|+00.53", + "Candle|-00.15|+00.55|+00.80", + "SoapBottle|-01.53|+00.95|+00.91", + "Cabinet|-01.50|+00.42|+00.43", + "Plunger|-00.71|+00.00|+00.83", + "Bathtub|+00.29|+00.29|-00.08", + "Bathtub|+00.29|+00.29|-00.08|BathtubBasin" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/8/0_depth_npy.npy b/train/FloorPlan408/8/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..74132c98ea09aac50a3f49ca2f94a841c6efed3d --- /dev/null +++ b/train/FloorPlan408/8/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dec910e6a7c5660c1bb45503a520f82ab7940419d3391aa72bf7aea57017e2e3 +size 3145856 diff --git a/train/FloorPlan408/8/0_semantic_sensor_npy.npy b/train/FloorPlan408/8/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..99b5362871390aa3109c880f30f28d13e7383c0a --- /dev/null +++ b/train/FloorPlan408/8/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9498a8aa6e6c53905d999aaf9baf4feeb121469408d318d5779d8ba3cc4ee72 +size 2359424 diff --git a/train/FloorPlan408/8/1.json b/train/FloorPlan408/8/1.json new file mode 100644 index 0000000000000000000000000000000000000000..0e1e7cb472ec63bbbfc15ad199bcaea04203148d --- /dev/null +++ b/train/FloorPlan408/8/1.json @@ -0,0 +1,1304 @@ +{ + "object": [ + { + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "object_info": { + "name": "HandTowel_cb917096", + "position": { + "x": -3.0964131355285645, + "y": 1.5870000123977661, + "z": 0.7440000176429749 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "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": 2.026729106903076, + "objectType": "HandTowel", + "objectId": "HandTowel|-03.10|+01.59|+00.74", + "assetId": "Hand_Towel_1", + "parentReceptacles": [ + "HandTowelHolder|-03.13|+01.69|+00.74" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ] + ], + "center": { + "x": -3.0991873741149902, + "y": 1.3917453289031982, + "z": 0.7440000176429749 + }, + "size": { + "x": 0.03856372833251953, + "y": 0.4048881530761719, + "z": 0.12864363193511963 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.0799057483673096, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.1893012523651123, + 0.679678201675415 + ], + [ + -3.0799057483673096, + 1.5941894054412842, + 0.679678201675415 + ], + [ + -3.0799055099487305, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.8083218336105347 + ], + [ + -3.11846923828125, + 1.5941894054412842, + 0.679678201675415 + ] + ] + } + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_fcf13af7", + "position": { + "x": -1.9089000225067139, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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|-01.92|+01.02|+00.89" + ], + "distance": 1.0537078380584717, + "objectType": "SinkBasin", + "objectId": "Sink|-01.92|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.647261619567871, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -1.647261619567871, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.1891355514526367, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -1.918198585510254, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68", + "object_info": { + "name": "Sink_67741f14", + "position": { + "x": -2.6814000606536865, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.532684087753296, + "objectType": "Sink", + "objectId": "Sink|-02.68|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3454480171203613, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.3454480171203613, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -3.0057501792907715, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -2.6755990982055664, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "object_info": { + "name": "Cabinet_96c5b76f", + "position": { + "x": -3.0948708057403564, + "y": 0.3906767964363098, + "z": 0.4213569164276123 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|-02.93|+00.07|+00.62" + ], + "distance": 1.8235867023468018, + "objectType": "Cabinet", + "objectId": "Cabinet|-03.09|+00.39|+00.42", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.81|-00.03|-00.10" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.7127976417541504, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -2.7127976417541504, + 0.06016182899475098, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.7163105010986328, + 0.41286909580230713 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.9531348943710327 + ], + [ + -3.0948710441589355, + 0.06016182899475098, + 0.41286909580230713 + ] + ], + "center": { + "x": -2.903834342956543, + "y": 0.3882361650466919, + "z": 0.6830019950866699 + }, + "size": { + "x": 0.38207340240478516, + "y": 0.6561486721038818, + "z": 0.5402657985687256 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "object_info": { + "name": "CounterTop_7a1de779", + "position": { + "x": -2.2980000972747803, + "y": 0.953000009059906, + "z": 0.6890000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-01.53|+00.95|+00.91", + "Faucet|-01.92|+01.02|+00.89", + "Faucet|-02.68|+01.02|+00.89", + "Sink|-02.68|+00.93|+00.68", + "Sink|-01.92|+00.93|+00.68" + ], + "distance": 1.2718181610107422, + "objectType": "CounterTop", + "objectId": "CounterTop|-02.30|+00.95|+00.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4582886695861816, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -1.4582886695861816, + 0.9152525663375854, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9545624256134033, + 0.4138813018798828 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 1.0162200927734375 + ], + [ + -3.1287355422973633, + 0.9152525663375854, + 0.4138813018798828 + ] + ], + "center": { + "x": -2.2935121059417725, + "y": 0.9349074959754944, + "z": 0.7150506973266602 + }, + "size": { + "x": 1.6704468727111816, + "y": 0.03930985927581787, + "z": 0.6023387908935547 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-02.68|+01.02|+00.89", + "object_info": { + "name": "Faucet_d447324f", + "position": { + "x": -2.6814000606536865, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": -0.0, + "y": 179.99993896484375, + "z": -0.0 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.6788322925567627, + "objectType": "Faucet", + "objectId": "Faucet|-02.68|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-02.68|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4565958976745605, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.4565958976745605, + 0.9315584897994995, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 1.1984528303146362, + 0.7092702388763428 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.9500620365142822 + ], + [ + -2.9137043952941895, + 0.9315584897994995, + 0.7092702388763428 + ] + ], + "center": { + "x": -2.685150146484375, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571084976196289, + "y": 0.2668943405151367, + "z": 0.24079179763793945 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "object_info": { + "name": "HandTowelHolder_3299cbda", + "position": { + "x": -3.1347131729125977, + "y": 1.6890000104904175, + "z": 0.7440000176429749 + }, + "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": [ + "HandTowel|-03.10|+01.59|+00.74" + ], + "distance": 2.093207597732544, + "objectType": "HandTowelHolder", + "objectId": "HandTowelHolder|-03.13|+01.69|+00.74", + "assetId": "Hand_Towel_Holder1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.086085796356201, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.086085796356201, + 1.5232951641082764, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.7335875034332275, + 0.6566950082778931 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.8275049924850464 + ], + [ + -3.1347131729125977, + 1.5232951641082764, + 0.6566950082778931 + ] + ], + "center": { + "x": -3.1103994846343994, + "y": 1.628441333770752, + "z": 0.7421000003814697 + }, + "size": { + "x": 0.048627376556396484, + "y": 0.21029233932495117, + "z": 0.17080998420715332 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mirror|-02.31|+01.53|+01.00", + "object_info": { + "name": "Mirror_018e4104", + "position": { + "x": -2.306999921798706, + "y": 1.5269999504089355, + "z": 1.0013059377670288 + }, + "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": 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": 1.653847575187683, + "objectType": "Mirror", + "objectId": "Mirror|-02.31|+01.53|+01.00", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4942188262939453, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -1.4942188262939453, + 1.1043553352355957, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.9496445655822754, + 0.9714651107788086 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 1.012781023979187 + ], + [ + -3.1017909049987793, + 1.1043553352355957, + 0.9714651107788086 + ] + ], + "center": { + "x": -2.2980048656463623, + "y": 1.5269999504089355, + "z": 0.9921230673789978 + }, + "size": { + "x": 1.607572078704834, + "y": 0.8452892303466797, + "z": 0.04131591320037842 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-01.92|+01.02|+00.89", + "object_info": { + "name": "Faucet_c0eebb31", + "position": { + "x": -1.9225000143051147, + "y": 1.0154999494552612, + "z": 0.8873922228813171 + }, + "rotation": { + "x": 0.0, + "y": 180.00003051757812, + "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": 1.265416145324707, + "objectType": "Faucet", + "objectId": "Faucet|-01.92|+01.02|+00.89", + "assetId": "Bathroom_Faucet_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69", + "Sink|-01.92|+00.93|+00.68|SinkBasin" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.697695255279541, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -1.697695255279541, + 0.9315584897994995, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 1.1984528303146362, + 0.7092700004577637 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.9500622749328613 + ], + [ + -2.1548047065734863, + 0.9315584897994995, + 0.7092700004577637 + ] + ], + "center": { + "x": -1.9262499809265137, + "y": 1.0650056600570679, + "z": 0.8296661376953125 + }, + "size": { + "x": 0.4571094512939453, + "y": 0.2668943405151367, + "z": 0.24079227447509766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-01.92|+00.93|+00.68", + "object_info": { + "name": "Sink_aa5d8e49", + "position": { + "x": -1.9240000247955322, + "y": 0.9309999942779541, + "z": 0.6759999990463257 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "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": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.06451416015625, + "objectType": "Sink", + "objectId": "Sink|-01.92|+00.93|+00.68", + "assetId": "Sink_8", + "parentReceptacles": [ + "CounterTop|-02.30|+00.95|+00.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.588047742843628, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -1.588047742843628, + 0.9239989519119263, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 1.0342280864715576, + 0.46333396434783936 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.8534700870513916 + ], + [ + -2.248349905014038, + 0.9239989519119263, + 0.46333396434783936 + ] + ], + "center": { + "x": -1.918198823928833, + "y": 0.9791135191917419, + "z": 0.6584020256996155 + }, + "size": { + "x": 0.6603021621704102, + "y": 0.11022913455963135, + "z": 0.39013612270355225 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "object_info": { + "name": "SinkBasin_9cf13bbc", + "position": { + "x": -2.666300058364868, + "y": 0.9617000222206116, + "z": 0.6693000197410583 + }, + "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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Faucet|-02.68|+01.02|+00.89" + ], + "distance": 1.517681360244751, + "objectType": "SinkBasin", + "objectId": "Sink|-02.68|+00.93|+00.68|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.4046616554260254, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.4046616554260254, + 0.9587894678115845, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 1.0332388877868652, + 0.5725167393684387 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.7362557053565979 + ], + [ + -2.946535587310791, + 0.9587894678115845, + 0.5725167393684387 + ] + ], + "center": { + "x": -2.675598621368408, + "y": 0.9960141777992249, + "z": 0.6543862223625183 + }, + "size": { + "x": 0.5418739318847656, + "y": 0.07444941997528076, + "z": 0.16373896598815918 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.0999999046325684, + "y": 0.902047336101532, + "z": -0.10000000894069672 + }, + "agent_rotation": { + "x": -0.0, + "y": 318.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.0999999046325684, + "y": 1.577047348022461, + "z": -0.10000000894069672 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Mirror|-02.31|+01.53|+01.00", + "CounterTop|-02.30|+00.95|+00.69", + "Faucet|-01.92|+01.02|+00.89", + "Sink|-01.92|+00.93|+00.68|SinkBasin", + "Sink|-01.92|+00.93|+00.68" + ], + "different_object": [ + "Faucet|-02.68|+01.02|+00.89", + "Cabinet|-03.09|+00.39|+00.42", + "HandTowel|-03.10|+01.59|+00.74", + "Sink|-02.68|+00.93|+00.68", + "Sink|-02.68|+00.93|+00.68|SinkBasin", + "HandTowelHolder|-03.13|+01.69|+00.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan408/8/1_depth_npy.npy b/train/FloorPlan408/8/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c2edcaf13c26b53e3f29ee50540d9c09533a3d7e --- /dev/null +++ b/train/FloorPlan408/8/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c509e82c6f588182b2fb8446ce73f170a999f84c0e3591121b84d622899e80ff +size 3145856 diff --git a/train/FloorPlan408/8/1_semantic_sensor_npy.npy b/train/FloorPlan408/8/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..03a7fea8b52f3ba0016f04d5681e0014e621435f --- /dev/null +++ b/train/FloorPlan408/8/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:733714ef064fa1d3b70473ce7a3b8f20cd5f4097ce0293670bc55a70fc9c29ed +size 2359424 diff --git a/train/FloorPlan408/8/depth_0.png b/train/FloorPlan408/8/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..efdbea3575e324bf81d028b956ad228833d396b1 Binary files /dev/null and b/train/FloorPlan408/8/depth_0.png differ diff --git a/train/FloorPlan408/8/depth_1.png b/train/FloorPlan408/8/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..86268d6cb7324770e4d7840fde838766f4d91adf Binary files /dev/null and b/train/FloorPlan408/8/depth_1.png differ diff --git a/train/FloorPlan408/8/mask_questions.jsonl b/train/FloorPlan408/8/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8afb82d921ce8fa92ae11aee9f40fe5df1e4201 --- /dev/null +++ b/train/FloorPlan408/8/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 8174, "folder_dir": "FloorPlan408/8", "pair_name": "0-1:Faucet|-01.92|+01.02|+00.89", "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. TowelHolder\nC. Mirror\nD. Faucet", "answer": "D", "object_name": "Faucet", "image_1": "FloorPlan408/8/rgb_0.png", "image_2": "FloorPlan408/8/rgb_1.png", "mask_image": "FloorPlan408/8/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png", "options": ["ScrubBrush", "TowelHolder", "Mirror", "Faucet"]} diff --git a/train/FloorPlan408/8/questions_distance.jsonl b/train/FloorPlan408/8/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c1d9c7d74768c4d08ba5affce63293b4d4b4de8 --- /dev/null +++ b/train/FloorPlan408/8/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 2484, "folder_dir": "FloorPlan408/8", "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. HandTowelHolder\nB. HandTowel\nC. CounterTop\nD. Other\n", "answer": "C", "src_object": "Mirror", "target_object": "CounterTop", "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": "HandTowelHolder", "semantic_id": "HandTowelHolder|-03.13|+01.69|+00.74", "distance": 0.8560297338585426, "com": {"x": -3.1103994846343994, "y": 1.628441333770752, "z": 0.7421000003814697}}, {"text": "HandTowel", "semantic_id": "HandTowel|-03.10|+01.59|+00.74", "distance": 0.8495600463328347, "com": {"x": -3.0991873741149902, "y": 1.3917453289031982, "z": 0.7440000176429749}}, {"text": "CounterTop", "semantic_id": "CounterTop|-02.30|+00.95|+00.69", "distance": 0.6537298813219412, "com": {"x": -2.2935121059417725, "y": 0.9349074959754944, "z": 0.7150506973266602}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/8/rgb_0.png", "image_2": "FloorPlan408/8/rgb_1.png"} +{"id": 2485, "folder_dir": "FloorPlan408/8", "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. ToiletPaperHanger\nB. SoapBottle\nC. Mirror\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "Mirror", "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": "ToiletPaperHanger", "semantic_id": "ToiletPaperHanger|-01.49|+00.81|+00.69", "distance": 0.866412810496118, "com": {"x": -1.4433655738830566, "y": 0.8054788708686829, "z": 0.6093612313270569}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-01.53|+00.95|+00.91", "distance": 0.7965677220859586, "com": {"x": -1.5259977579116821, "y": 1.063265323638916, "z": 0.8852450847625732}}, {"text": "Mirror", "semantic_id": "Mirror|-02.31|+01.53|+01.00", "distance": 0.6537298813219412, "com": {"x": -2.2980048656463623, "y": 1.5269999504089355, "z": 0.9921230673789978}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan408/8/rgb_0.png", "image_2": "FloorPlan408/8/rgb_1.png"} diff --git a/train/FloorPlan408/8/rgb_0.png b/train/FloorPlan408/8/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9168532cf0182fe904caa8f114a9b5fdd23eea4b --- /dev/null +++ b/train/FloorPlan408/8/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a3fff4d848e491a215979510650a7698f0103aeb6ce0b6062660c115b914a82 +size 862502 diff --git a/train/FloorPlan408/8/rgb_1.png b/train/FloorPlan408/8/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5754ee0b9390cbcdc9c22bb90893f3a666e35063 --- /dev/null +++ b/train/FloorPlan408/8/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16ab1e074eb4f4c785fc1e4847a4b06ec349bfc300a7ed7d14578e766daec7b3 +size 935065 diff --git a/train/FloorPlan408/8/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png b/train/FloorPlan408/8/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png new file mode 100644 index 0000000000000000000000000000000000000000..1fec2708a0990caf3ad51d8f1511cdc89feb8182 --- /dev/null +++ b/train/FloorPlan408/8/rgb_1_mask_Faucet|-01.92|+01.02|+00.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99b61ed22d31beda80159a26f75e3a62bdc259abb6f7869ef6084597a5795961 +size 806168 diff --git a/train/FloorPlan408/8/semantic_0.png b/train/FloorPlan408/8/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6bbd5724bd8b3e56487b1221224b1feed2e8919e Binary files /dev/null and b/train/FloorPlan408/8/semantic_0.png differ diff --git a/train/FloorPlan408/8/semantic_1.png b/train/FloorPlan408/8/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5f9f73aec0a78cd8df88dbb56eff239acc3ea2c6 Binary files /dev/null and b/train/FloorPlan408/8/semantic_1.png differ diff --git a/train/train1243/0/0.json b/train/train1243/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..918a089d3c4d9c4e1912e931a67f0cf760744fbb --- /dev/null +++ b/train/train1243/0/0.json @@ -0,0 +1,1755 @@ +{ + "object": [ + { + "objectId": "Chair|2|1|1", + "object_info": { + "name": "Chair|2|1|1", + "position": { + "x": 12.703567504882812, + "y": 0.0020568668842315674, + "z": 11.537726402282715 + }, + "rotation": { + "x": -0.0, + "y": 167.5660858154297, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 2.8635926246643066, + "objectType": "Chair", + "objectId": "Chair|2|1|1", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.97079086303711, + 0.8985862731933594, + 11.834648132324219 + ], + [ + 12.97079086303711, + 0.8985862731933594, + 11.23782730102539 + ], + [ + 12.97079086303711, + -1.71661376953125e-05, + 11.834648132324219 + ], + [ + 12.97079086303711, + -1.71661376953125e-05, + 11.23782730102539 + ], + [ + 12.420413970947266, + 0.8985862731933594, + 11.834648132324219 + ], + [ + 12.420413970947266, + 0.8985862731933594, + 11.23782730102539 + ], + [ + 12.420413970947266, + -1.71661376953125e-05, + 11.834648132324219 + ], + [ + 12.420413970947266, + -1.71661376953125e-05, + 11.23782730102539 + ] + ], + "center": { + "x": 12.695602416992188, + "y": 0.44928455352783203, + "z": 11.536237716674805 + }, + "size": { + "x": 0.5503768920898438, + "y": 0.8986034393310547, + "z": 0.5968208312988281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.530305862426758, + -1.6897916793823242e-05, + 11.235527038574219 + ], + [ + 12.987092971801758, + -1.6897916793823242e-05, + 11.336241722106934 + ], + [ + 12.876938819885254, + -1.6897916793823242e-05, + 11.835843086242676 + ], + [ + 12.420151710510254, + -1.6897916793823242e-05, + 11.735128402709961 + ], + [ + 12.530305862426758, + 0.8985857963562012, + 11.235527038574219 + ], + [ + 12.987092971801758, + 0.8985857963562012, + 11.336241722106934 + ], + [ + 12.876938819885254, + 0.8985857963562012, + 11.835843086242676 + ], + [ + 12.420151710510254, + 0.8985857963562012, + 11.735128402709961 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|2|3", + "object_info": { + "name": "GarbageCan|2|3", + "position": { + "x": 15.982441902160645, + "y": -0.033433347940444946, + "z": 13.002927780151367 + }, + "rotation": { + "x": 0.00022227833687793463, + "y": 270.00030517578125, + "z": -5.7012202887563035e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 6.30361270904541, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|3", + "assetId": "bin_19", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 16.16699981689453, + 0.5722116827964783, + 13.22175407409668 + ], + [ + 16.16699981689453, + 0.5722116827964783, + 12.785345077514648 + ], + [ + 16.16699981689453, + -1.7881393432617188e-07, + 13.22175407409668 + ], + [ + 16.16699981689453, + -1.7881393432617188e-07, + 12.785345077514648 + ], + [ + 15.749481201171875, + 0.5722116827964783, + 13.22175407409668 + ], + [ + 15.749481201171875, + 0.5722116827964783, + 12.785345077514648 + ], + [ + 15.749481201171875, + -1.7881393432617188e-07, + 13.22175407409668 + ], + [ + 15.749481201171875, + -1.7881393432617188e-07, + 12.785345077514648 + ] + ], + "center": { + "x": 15.958240509033203, + "y": 0.286105751991272, + "z": 13.003549575805664 + }, + "size": { + "x": 0.41751861572265625, + "y": 0.5722118616104126, + "z": 0.43640899658203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 15.749483108520508, + -3.475695848464966e-06, + 13.221756935119629 + ], + [ + 15.749480247497559, + -3.043562173843384e-06, + 12.785346031188965 + ], + [ + 16.16699981689453, + -1.4230608940124512e-06, + 12.785343170166016 + ], + [ + 16.167001724243164, + -1.8551945686340332e-06, + 13.221755027770996 + ], + [ + 15.749480247497559, + 0.5722130537033081, + 13.221756935119629 + ], + [ + 15.749478340148926, + 0.5722135305404663, + 12.785346031188965 + ], + [ + 16.1669979095459, + 0.5722150802612305, + 12.785344123840332 + ], + [ + 16.16699981689453, + 0.5722146034240723, + 13.221755027770996 + ] + ] + } + } + }, + { + "objectId": "Knife|surface|2|16", + "object_info": { + "name": "Knife|surface|2|16", + "position": { + "x": 12.459572792053223, + "y": 0.7882995009422302, + "z": 10.673073768615723 + }, + "rotation": { + "x": 0.0030001606792211533, + "y": 266.1201477050781, + "z": 89.98529052734375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.5288424491882324, + "objectType": "Knife", + "objectId": "Knife|surface|2|16", + "assetId": "Knife_4", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.587953567504883, + 0.7952505350112915, + 10.705768585205078 + ], + [ + 12.587953567504883, + 0.7952505350112915, + 10.649765014648438 + ], + [ + 12.587953567504883, + 0.7813800573348999, + 10.705768585205078 + ], + [ + 12.587953567504883, + 0.7813800573348999, + 10.649765014648438 + ], + [ + 12.26280403137207, + 0.7952505350112915, + 10.705768585205078 + ], + [ + 12.26280403137207, + 0.7952505350112915, + 10.649765014648438 + ], + [ + 12.26280403137207, + 0.7813800573348999, + 10.705768585205078 + ], + [ + 12.26280403137207, + 0.7813800573348999, + 10.649765014648438 + ] + ], + "center": { + "x": 12.425378799438477, + "y": 0.7883152961730957, + "z": 10.677766799926758 + }, + "size": { + "x": 0.3251495361328125, + "y": 0.013870477676391602, + "z": 0.056003570556640625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.261394500732422, + 0.7952221632003784, + 10.692672729492188 + ], + [ + 12.261395454406738, + 0.7813666462898254, + 10.692668914794922 + ], + [ + 12.585108757019043, + 0.7813836336135864, + 10.71462345123291 + ], + [ + 12.585107803344727, + 0.7952391505241394, + 10.714627265930176 + ], + [ + 12.264606475830078, + 0.7952343225479126, + 10.645308494567871 + ], + [ + 12.264607429504395, + 0.7813788056373596, + 10.645304679870605 + ], + [ + 12.588321685791016, + 0.7813957929611206, + 10.667259216308594 + ], + [ + 12.5883207321167, + 0.7952513098716736, + 10.667262077331543 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|3", + "object_info": { + "name": "Chair|2|1|3", + "position": { + "x": 13.305535316467285, + "y": 0.0020568668842315674, + "z": 10.026357650756836 + }, + "rotation": { + "x": 0.0, + "y": 265.754150390625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.6375765800476074, + "objectType": "Chair", + "objectId": "Chair|2|1|3", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.574703216552734, + 0.8985861539840698, + 10.278678894042969 + ], + [ + 13.574703216552734, + 0.8985861539840698, + 9.791067123413086 + ], + [ + 13.574703216552734, + -1.710653305053711e-05, + 10.278678894042969 + ], + [ + 13.574703216552734, + -1.710653305053711e-05, + 9.791067123413086 + ], + [ + 13.031883239746094, + 0.8985861539840698, + 10.278678894042969 + ], + [ + 13.031883239746094, + 0.8985861539840698, + 9.791067123413086 + ], + [ + 13.031883239746094, + -1.710653305053711e-05, + 10.278678894042969 + ], + [ + 13.031883239746094, + -1.710653305053711e-05, + 9.791067123413086 + ] + ], + "center": { + "x": 13.303293228149414, + "y": 0.44928452372550964, + "z": 10.034873008728027 + }, + "size": { + "x": 0.5428199768066406, + "y": 0.8986032605171204, + "z": 0.4876117706298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 13.031092643737793, + -1.6897916793823242e-05, + 10.240893363952637 + ], + [ + 13.065723419189453, + -1.6897916793823242e-05, + 9.774417877197266 + ], + [ + 13.575920104980469, + -1.6897916793823242e-05, + 9.812294960021973 + ], + [ + 13.541289329528809, + -1.6897916793823242e-05, + 10.278770446777344 + ], + [ + 13.031092643737793, + 0.8985857963562012, + 10.240893363952637 + ], + [ + 13.065723419189453, + 0.8985857963562012, + 9.774417877197266 + ], + [ + 13.575920104980469, + 0.8985857963562012, + 9.812294960021973 + ], + [ + 13.541289329528809, + 0.8985857963562012, + 10.278770446777344 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|2|14", + "object_info": { + "name": "Plate|surface|2|14", + "position": { + "x": 12.457132339477539, + "y": 0.78215491771698, + "z": 10.268486976623535 + }, + "rotation": { + "x": 0.004979568067938089, + "y": 269.999755859375, + "z": -0.0007455655722878873 + }, + "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": 2.648582935333252, + "objectType": "Plate", + "objectId": "Plate|surface|2|14", + "assetId": "Plate_10", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.551633834838867, + 0.804070234298706, + 10.362390518188477 + ], + [ + 12.551633834838867, + 0.804070234298706, + 10.174589157104492 + ], + [ + 12.551633834838867, + 0.7813829183578491, + 10.362390518188477 + ], + [ + 12.551633834838867, + 0.7813829183578491, + 10.174589157104492 + ], + [ + 12.363832473754883, + 0.804070234298706, + 10.362390518188477 + ], + [ + 12.363832473754883, + 0.804070234298706, + 10.174589157104492 + ], + [ + 12.363832473754883, + 0.7813829183578491, + 10.362390518188477 + ], + [ + 12.363832473754883, + 0.7813829183578491, + 10.174589157104492 + ] + ], + "center": { + "x": 12.457733154296875, + "y": 0.7927265763282776, + "z": 10.268489837646484 + }, + "size": { + "x": 0.18780136108398438, + "y": 0.022687315940856934, + "z": 0.18780136108398438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.3638334274292, + 0.7813811898231506, + 10.36238956451416 + ], + [ + 12.363834381103516, + 0.7813836336135864, + 10.174589157104492 + ], + [ + 12.551634788513184, + 0.7813999056816101, + 10.174590110778809 + ], + [ + 12.551633834838867, + 0.7813974618911743, + 10.362390518188477 + ], + [ + 12.363831520080566, + 0.8040520548820496, + 10.36238956451416 + ], + [ + 12.363832473754883, + 0.8040544986724854, + 10.174589157104492 + ], + [ + 12.55163288116455, + 0.8040708303451538, + 10.174590110778809 + ], + [ + 12.551631927490234, + 0.8040683269500732, + 10.362390518188477 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 12.703603744506836, + "y": 0.0008696913719177246, + "z": 10.49010181427002 + }, + "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": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Apple|surface|2|10", + "Plate|surface|2|14", + "Vase|surface|2|18", + "Toaster|surface|2|6", + "Knife|surface|2|16" + ], + "distance": 2.9490935802459717, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 13.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ], + [ + 12.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ] + ], + "center": { + "x": 12.703603744506836, + "y": 0.390694797039032, + "z": 10.49010181427002 + }, + "size": { + "x": 1.0, + "y": 0.78138267993927, + "z": 1.7713584899902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|2|6", + "object_info": { + "name": "Toaster|surface|2|6", + "position": { + "x": 12.457135200500488, + "y": 0.7813865542411804, + "z": 10.490100860595703 + }, + "rotation": { + "x": 3.9323714418060263e-07, + "y": 270.0000915527344, + "z": -9.120484492086689e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.5747363567352295, + "objectType": "Toaster", + "objectId": "Toaster|surface|2|6", + "assetId": "Toaster_19", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.676313400268555, + 1.0108397006988525, + 10.605884552001953 + ], + [ + 12.676313400268555, + 1.0108397006988525, + 10.374317169189453 + ], + [ + 12.676313400268555, + 0.7813866138458252, + 10.605884552001953 + ], + [ + 12.676313400268555, + 0.7813866138458252, + 10.374317169189453 + ], + [ + 12.219575881958008, + 1.0108397006988525, + 10.605884552001953 + ], + [ + 12.219575881958008, + 1.0108397006988525, + 10.374317169189453 + ], + [ + 12.219575881958008, + 0.7813866138458252, + 10.605884552001953 + ], + [ + 12.219575881958008, + 0.7813866138458252, + 10.374317169189453 + ] + ], + "center": { + "x": 12.447944641113281, + "y": 0.8961131572723389, + "z": 10.490100860595703 + }, + "size": { + "x": 0.4567375183105469, + "y": 0.22945308685302734, + "z": 0.2315673828125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.219576835632324, + 0.7813865542411804, + 10.605883598327637 + ], + [ + 12.219576835632324, + 0.7813865542411804, + 10.37431812286377 + ], + [ + 12.676312446594238, + 0.7813865542411804, + 10.37431812286377 + ], + [ + 12.676313400268555, + 0.7813865542411804, + 10.605883598327637 + ], + [ + 12.219576835632324, + 1.010839581489563, + 10.605883598327637 + ], + [ + 12.219576835632324, + 1.010839581489563, + 10.37431812286377 + ], + [ + 12.676312446594238, + 1.010839581489563, + 10.37431812286377 + ], + [ + 12.676313400268555, + 1.010839581489563, + 10.605883598327637 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|4", + "object_info": { + "name": "Chair|2|1|4", + "position": { + "x": 12.101659774780273, + "y": 0.0020568668842315674, + "z": 10.914847373962402 + }, + "rotation": { + "x": -0.0, + "y": 75.39482116699219, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 2.310281276702881, + "objectType": "Chair", + "objectId": "Chair|2|1|4", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.407512664794922, + 0.898586094379425, + 11.189647674560547 + ], + [ + 12.407512664794922, + 0.898586094379425, + 10.62446403503418 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 10.62446403503418 + ], + [ + 11.798370361328125, + 0.898586094379425, + 11.189647674560547 + ], + [ + 11.798370361328125, + 0.898586094379425, + 10.62446403503418 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 10.62446403503418 + ] + ], + "center": { + "x": 12.102941513061523, + "y": 0.44928452372550964, + "z": 10.907055854797363 + }, + "size": { + "x": 0.6091423034667969, + "y": 0.8986031413078308, + "z": 0.5651836395263672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.41020679473877, + -1.6897916793823242e-05, + 10.753159523010254 + ], + [ + 12.292258262634277, + -1.6897916793823242e-05, + 11.205802917480469 + ], + [ + 11.797188758850098, + -1.6897916793823242e-05, + 11.076799392700195 + ], + [ + 11.91513729095459, + -1.6897916793823242e-05, + 10.62415599822998 + ], + [ + 12.41020679473877, + 0.8985857963562012, + 10.753159523010254 + ], + [ + 12.292258262634277, + 0.8985857963562012, + 11.205802917480469 + ], + [ + 11.797188758850098, + 0.8985857963562012, + 11.076799392700195 + ], + [ + 11.91513729095459, + 0.8985857963562012, + 10.62415599822998 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 12.7034912109375, + "y": 0.0020568668842315674, + "z": 9.442480087280273 + }, + "rotation": { + "x": 0.0, + "y": 351.9521484375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.3740320205688477, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.970809936523438, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.970809936523438, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.159706115722656 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.159706115722656 + ] + ], + "center": { + "x": 12.711771965026855, + "y": 0.44928452372550964, + "z": 9.444377899169922 + }, + "size": { + "x": 0.5180759429931641, + "y": 0.8986034393310547, + "z": 0.5693435668945312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.899356842041016, + -1.6897916793823242e-05, + 9.730544090270996 + ], + [ + 12.43620491027832, + -1.6897916793823242e-05, + 9.665058135986328 + ], + [ + 12.507828712463379, + -1.6897916793823242e-05, + 9.158495903015137 + ], + [ + 12.970980644226074, + -1.6897916793823242e-05, + 9.223981857299805 + ], + [ + 12.899356842041016, + 0.8985857963562012, + 9.730544090270996 + ], + [ + 12.43620491027832, + 0.8985857963562012, + 9.665058135986328 + ], + [ + 12.507828712463379, + 0.8985857963562012, + 9.158495903015137 + ], + [ + 12.970980644226074, + 0.8985857963562012, + 9.223981857299805 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|18", + "object_info": { + "name": "Vase|surface|2|18", + "position": { + "x": 12.45712947845459, + "y": 0.7805110812187195, + "z": 9.825257301330566 + }, + "rotation": { + "x": 0.01683419942855835, + "y": 270.0025329589844, + "z": 0.00887954793870449 + }, + "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": 2.842867374420166, + "objectType": "Vase", + "objectId": "Vase|surface|2|18", + "assetId": "Vase_Open_3", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.551713943481445, + 1.0254685878753662, + 9.919853210449219 + ], + [ + 12.551713943481445, + 1.0254685878753662, + 9.730623245239258 + ], + [ + 12.551713943481445, + 0.7813770771026611, + 9.919853210449219 + ], + [ + 12.551713943481445, + 0.7813770771026611, + 9.730623245239258 + ], + [ + 12.362472534179688, + 1.0254685878753662, + 9.919853210449219 + ], + [ + 12.362472534179688, + 1.0254685878753662, + 9.730623245239258 + ], + [ + 12.362472534179688, + 0.7813770771026611, + 9.919853210449219 + ], + [ + 12.362472534179688, + 0.7813770771026611, + 9.730623245239258 + ] + ], + "center": { + "x": 12.457093238830566, + "y": 0.9034228324890137, + "z": 9.825238227844238 + }, + "size": { + "x": 0.1892414093017578, + "y": 0.24409151077270508, + "z": 0.18922996520996094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.362526893615723, + 0.7813833951950073, + 9.919867515563965 + ], + [ + 12.362518310546875, + 0.7813540697097778, + 9.7306547164917 + ], + [ + 12.55173110961914, + 0.7814096212387085, + 9.730646133422852 + ], + [ + 12.551739692687988, + 0.781438946723938, + 9.919858932495117 + ], + [ + 12.362455368041992, + 1.025429368019104, + 9.919830322265625 + ], + [ + 12.362446784973145, + 1.0254000425338745, + 9.73061752319336 + ], + [ + 12.55165958404541, + 1.0254557132720947, + 9.730608940124512 + ], + [ + 12.551668167114258, + 1.0254850387573242, + 9.919821739196777 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|5", + "object_info": { + "name": "Chair|2|1|5", + "position": { + "x": 13.305135726928711, + "y": 0.0020568668842315674, + "z": 10.88064956665039 + }, + "rotation": { + "x": 0.0, + "y": 296.724853515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.4450602531433105, + "objectType": "Chair", + "objectId": "Chair|2|1|5", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.636077880859375, + 0.8985862135887146, + 11.196287155151367 + ], + [ + 13.636077880859375, + 0.8985862135887146, + 10.558515548706055 + ], + [ + 13.636077880859375, + -1.6987323760986328e-05, + 11.196287155151367 + ], + [ + 13.636077880859375, + -1.6987323760986328e-05, + 10.558515548706055 + ], + [ + 12.977371215820312, + 0.8985862135887146, + 11.196287155151367 + ], + [ + 12.977371215820312, + 0.8985862135887146, + 10.558515548706055 + ], + [ + 12.977371215820312, + -1.6987323760986328e-05, + 11.196287155151367 + ], + [ + 12.977371215820312, + -1.6987323760986328e-05, + 10.558515548706055 + ] + ], + "center": { + "x": 13.306724548339844, + "y": 0.4492846131324768, + "z": 10.877401351928711 + }, + "size": { + "x": 0.6587066650390625, + "y": 0.8986032009124756, + "z": 0.6377716064453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 13.180219650268555, + -1.6897916793823242e-05, + 11.205826759338379 + ], + [ + 12.969865798950195, + -1.6897916793823242e-05, + 10.788036346435547 + ], + [ + 13.4268159866333, + -1.6897916793823242e-05, + 10.557965278625488 + ], + [ + 13.63716983795166, + -1.6897916793823242e-05, + 10.975756645202637 + ], + [ + 13.180219650268555, + 0.8985857963562012, + 11.205826759338379 + ], + [ + 12.969865798950195, + 0.8985857963562012, + 10.788036346435547 + ], + [ + 13.4268159866333, + 0.8985857963562012, + 10.557965278625488 + ], + [ + 13.63716983795166, + 0.8985857963562012, + 10.975756645202637 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.199999809265137, + "y": 0.9009997844696045, + "z": 11.399999618530273 + }, + "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": 10.199999809265137, + "y": 1.5759997367858887, + "z": 11.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|2|1|2", + "DiningTable|2|1|0", + "Chair|2|1|4", + "Vase|surface|2|18" + ], + "different_object": [ + "Knife|surface|2|16", + "Chair|2|1|3", + "Toaster|surface|2|6", + "Plate|surface|2|14", + "Chair|2|1|5", + "GarbageCan|2|3", + "Chair|2|1|1" + ] +} \ No newline at end of file diff --git a/train/train1243/0/0_depth_npy.npy b/train/train1243/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..56669a337cc1ac00321942fc734ef1e53e63895e --- /dev/null +++ b/train/train1243/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04b66f690dbb2776815aa91605b7a23990c34c2ecb7cd31814cd6533ca8e7087 +size 3145856 diff --git a/train/train1243/0/0_semantic_sensor_npy.npy b/train/train1243/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0c5903a6e9634bda041d386a6fe492b3ce7bb20d --- /dev/null +++ b/train/train1243/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f27ad03a667fca015acc496d9347fbf05f31dc910e970714e7a0378e11ec5f46 +size 2359424 diff --git a/train/train1243/0/1.json b/train/train1243/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..748cf8c7fa7828c6a0c1568ed3e488dcc6f59a87 --- /dev/null +++ b/train/train1243/0/1.json @@ -0,0 +1,2576 @@ +{ + "object": [ + { + "objectId": "RemoteControl|surface|7|60", + "object_info": { + "name": "RemoteControl|surface|7|60", + "position": { + "x": 9.665549278259277, + "y": 0.7598897218704224, + "z": 4.454894065856934 + }, + "rotation": { + "x": 359.9889221191406, + "y": 270.00421142578125, + "z": -0.0019428046653047204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 6.804794788360596, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|7|60", + "assetId": "Remote_1", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.773747444152832, + 0.7768520712852478, + 4.488913059234619 + ], + [ + 9.773747444152832, + 0.7768520712852478, + 4.42087984085083 + ], + [ + 9.773747444152832, + 0.7581748366355896, + 4.488913059234619 + ], + [ + 9.773747444152832, + 0.7581748366355896, + 4.42087984085083 + ], + [ + 9.55814266204834, + 0.7768520712852478, + 4.488913059234619 + ], + [ + 9.55814266204834, + 0.7768520712852478, + 4.42087984085083 + ], + [ + 9.55814266204834, + 0.7581748366355896, + 4.488913059234619 + ], + [ + 9.55814266204834, + 0.7581748366355896, + 4.42087984085083 + ] + ], + "center": { + "x": 9.665945053100586, + "y": 0.7675134539604187, + "z": 4.454896450042725 + }, + "size": { + "x": 0.2156047821044922, + "y": 0.018677234649658203, + "z": 0.06803321838378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.558146476745605, + 0.7582055330276489, + 4.488912582397461 + ], + [ + 9.558141708374023, + 0.7582078576087952, + 4.420891284942627 + ], + [ + 9.7737398147583, + 0.7581661343574524, + 4.420875549316406 + ], + [ + 9.7737455368042, + 0.7581638097763062, + 4.488896369934082 + ], + [ + 9.558150291442871, + 0.7768498063087463, + 4.488913059234619 + ], + [ + 9.558145523071289, + 0.7768521308898926, + 4.420892238616943 + ], + [ + 9.773743629455566, + 0.7768104076385498, + 4.4208760261535645 + ], + [ + 9.773748397827148, + 0.7768081426620483, + 4.488897323608398 + ] + ] + } + } + }, + { + "objectId": "Chair|7|5|2", + "object_info": { + "name": "Chair|7|5|2", + "position": { + "x": 9.999549865722656, + "y": 2.7120113372802734e-06, + "z": 5.130134105682373 + }, + "rotation": { + "x": 0.0, + "y": 193.54702758789062, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 6.185834884643555, + "objectType": "Chair", + "objectId": "Chair|7|5|2", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.322381973266602, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 4.828264236450195 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 4.828264236450195 + ] + ], + "center": { + "x": 10.013111114501953, + "y": 0.3946467638015747, + "z": 5.136933326721191 + }, + "size": { + "x": 0.6185417175292969, + "y": 0.7892882823944092, + "z": 0.6173381805419922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.624715805053711, + 2.682209014892578e-06, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 2.682209014892578e-06, + 4.77900505065918 + ], + [ + 10.384706497192383, + 2.682209014892578e-06, + 5.369933605194092 + ], + [ + 9.767098426818848, + 2.682209014892578e-06, + 5.518743991851807 + ], + [ + 9.624715805053711, + 0.7892910242080688, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 0.7892910242080688, + 4.77900505065918 + ], + [ + 10.384706497192383, + 0.7892910242080688, + 5.369933605194092 + ], + [ + 9.767098426818848, + 0.7892910242080688, + 5.518743991851807 + ] + ] + } + } + }, + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 12.08100700378418, + "y": 1.2658374309539795, + "z": 8.102129936218262 + }, + "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": 3.7911453247070312, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.310551643371582, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 12.310551643371582, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.10099983215332 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.10099983215332 + ] + ], + "center": { + "x": 12.081649780273438, + "y": 1.266290307044983, + "z": 8.110574722290039 + }, + "size": { + "x": 0.45780372619628906, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|3|7", + "object_info": { + "name": "door|3|7", + "position": { + "x": 9.01412296295166, + "y": -0.0022848844528198242, + "z": 6.071704387664795 + }, + "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": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.348142147064209, + "objectType": "Doorway", + "objectId": "door|3|7", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.049091339111328, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 10.049091339111328, + 2.09391450881958, + 6.020133018493652 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.020133018493652 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.020133018493652 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.020133018493652 + ] + ], + "center": { + "x": 9.522216796875, + "y": 1.0459482669830322, + "z": 6.504016399383545 + }, + "size": { + "x": 1.0537490844726562, + "y": 2.0959324836730957, + "z": 0.9677667617797852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|3|0|0", + "object_info": { + "name": "TVStand|3|0|0", + "position": { + "x": 0.4734106659889221, + "y": 3.3974647521972656e-05, + "z": 4.681970596313477 + }, + "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": [ + "Wood" + ], + "receptacleObjectIds": [ + "Pencil|surface|3|27", + "Television|3|0|1", + "CellPhone|surface|3|28" + ], + "distance": 11.606319427490234, + "objectType": "TVStand", + "objectId": "TVStand|3|0|0", + "assetId": "TV_Stand_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9218211770057678, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 4.072999954223633 + ] + ], + "center": { + "x": 0.4734106659889221, + "y": 0.34467315673828125, + "z": 4.681970596313477 + }, + "size": { + "x": 0.8968210220336914, + "y": 0.6893460750579834, + "z": 1.2179412841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9218213558197021, + 0.0, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.0, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.0, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.0, + 4.072999954223633 + ], + [ + 0.9218213558197021, + 0.689346194267273, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.689346194267273, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.689346194267273, + 4.072999954223633 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 12.703603744506836, + "y": 0.0008696913719177246, + "z": 10.49010181427002 + }, + "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": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Apple|surface|2|10", + "Plate|surface|2|14", + "Vase|surface|2|18", + "Toaster|surface|2|6", + "Knife|surface|2|16" + ], + "distance": 2.9490935802459717, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 13.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ], + [ + 12.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ] + ], + "center": { + "x": 12.703603744506836, + "y": 0.390694797039032, + "z": 10.49010181427002 + }, + "size": { + "x": 1.0, + "y": 0.78138267993927, + "z": 1.7713584899902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|4", + "object_info": { + "name": "Chair|2|1|4", + "position": { + "x": 12.101659774780273, + "y": 0.0020568668842315674, + "z": 10.914847373962402 + }, + "rotation": { + "x": -0.0, + "y": 75.39482116699219, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 2.310281276702881, + "objectType": "Chair", + "objectId": "Chair|2|1|4", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.407512664794922, + 0.898586094379425, + 11.189647674560547 + ], + [ + 12.407512664794922, + 0.898586094379425, + 10.62446403503418 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 10.62446403503418 + ], + [ + 11.798370361328125, + 0.898586094379425, + 11.189647674560547 + ], + [ + 11.798370361328125, + 0.898586094379425, + 10.62446403503418 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 10.62446403503418 + ] + ], + "center": { + "x": 12.102941513061523, + "y": 0.44928452372550964, + "z": 10.907055854797363 + }, + "size": { + "x": 0.6091423034667969, + "y": 0.8986031413078308, + "z": 0.5651836395263672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.41020679473877, + -1.6897916793823242e-05, + 10.753159523010254 + ], + [ + 12.292258262634277, + -1.6897916793823242e-05, + 11.205802917480469 + ], + [ + 11.797188758850098, + -1.6897916793823242e-05, + 11.076799392700195 + ], + [ + 11.91513729095459, + -1.6897916793823242e-05, + 10.62415599822998 + ], + [ + 12.41020679473877, + 0.8985857963562012, + 10.753159523010254 + ], + [ + 12.292258262634277, + 0.8985857963562012, + 11.205802917480469 + ], + [ + 11.797188758850098, + 0.8985857963562012, + 11.076799392700195 + ], + [ + 11.91513729095459, + 0.8985857963562012, + 10.62415599822998 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 12.7034912109375, + "y": 0.0020568668842315674, + "z": 9.442480087280273 + }, + "rotation": { + "x": 0.0, + "y": 351.9521484375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.3740320205688477, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.970809936523438, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.970809936523438, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.159706115722656 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.159706115722656 + ] + ], + "center": { + "x": 12.711771965026855, + "y": 0.44928452372550964, + "z": 9.444377899169922 + }, + "size": { + "x": 0.5180759429931641, + "y": 0.8986034393310547, + "z": 0.5693435668945312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.899356842041016, + -1.6897916793823242e-05, + 9.730544090270996 + ], + [ + 12.43620491027832, + -1.6897916793823242e-05, + 9.665058135986328 + ], + [ + 12.507828712463379, + -1.6897916793823242e-05, + 9.158495903015137 + ], + [ + 12.970980644226074, + -1.6897916793823242e-05, + 9.223981857299805 + ], + [ + 12.899356842041016, + 0.8985857963562012, + 9.730544090270996 + ], + [ + 12.43620491027832, + 0.8985857963562012, + 9.665058135986328 + ], + [ + 12.507828712463379, + 0.8985857963562012, + 9.158495903015137 + ], + [ + 12.970980644226074, + 0.8985857963562012, + 9.223981857299805 + ] + ] + } + } + }, + { + "objectId": "Painting|3|5", + "object_info": { + "name": "Painting|3|5", + "position": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.052995681762695 + }, + "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": 8.489973068237305, + "objectType": "Painting", + "objectId": "Painting|3|5", + "assetId": "Wall_Decor_Photo_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.040939807891846, + 2.305020809173584, + 4.084741115570068 + ], + [ + 6.040939807891846, + 2.305020809173584, + 4.052999973297119 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.052999973297119 + ] + ], + "center": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.068870544433594 + }, + "size": { + "x": 0.8082046508789062, + "y": 0.5759239196777344, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Statue|surface|7|58", + "object_info": { + "name": "Statue|surface|7|58", + "position": { + "x": 9.833518981933594, + "y": 0.7549687027931213, + "z": 4.777151107788086 + }, + "rotation": { + "x": -0.00039967946941033006, + "y": 269.99945068359375, + "z": 359.9224853515625 + }, + "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": 6.476635932922363, + "objectType": "Statue", + "objectId": "Statue|surface|7|58", + "assetId": "Hand_Statue_3", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.914140701293945, + 0.903741717338562, + 4.971059799194336 + ], + [ + 9.914140701293945, + 0.903741717338562, + 4.595634460449219 + ], + [ + 9.914140701293945, + 0.7581862211227417, + 4.971059799194336 + ], + [ + 9.914140701293945, + 0.7581862211227417, + 4.595634460449219 + ], + [ + 9.699321746826172, + 0.903741717338562, + 4.971059799194336 + ], + [ + 9.699321746826172, + 0.903741717338562, + 4.595634460449219 + ], + [ + 9.699321746826172, + 0.7581862211227417, + 4.971059799194336 + ], + [ + 9.699321746826172, + 0.7581862211227417, + 4.595634460449219 + ] + ], + "center": { + "x": 9.806731224060059, + "y": 0.8309639692306519, + "z": 4.783347129821777 + }, + "size": { + "x": 0.21481895446777344, + "y": 0.1455554962158203, + "z": 0.3754253387451172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.699319839477539, + 0.758001983165741, + 4.970942974090576 + ], + [ + 9.699323654174805, + 0.7585098743438721, + 4.595474720001221 + ], + [ + 9.914141654968262, + 0.7585083842277527, + 4.5954766273498535 + ], + [ + 9.914138793945312, + 0.7580004930496216, + 4.970945358276367 + ], + [ + 9.699320793151855, + 0.9033250212669373, + 4.971139907836914 + ], + [ + 9.699324607849121, + 0.9038329124450684, + 4.5956711769104 + ], + [ + 9.914142608642578, + 0.903831422328949, + 4.595673561096191 + ], + [ + 9.914139747619629, + 0.9033235311508179, + 4.971141815185547 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|18", + "object_info": { + "name": "Vase|surface|2|18", + "position": { + "x": 12.45712947845459, + "y": 0.7805110812187195, + "z": 9.825257301330566 + }, + "rotation": { + "x": 0.01683419942855835, + "y": 270.0025329589844, + "z": 0.00887954793870449 + }, + "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": 2.842867374420166, + "objectType": "Vase", + "objectId": "Vase|surface|2|18", + "assetId": "Vase_Open_3", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.551713943481445, + 1.0254685878753662, + 9.919853210449219 + ], + [ + 12.551713943481445, + 1.0254685878753662, + 9.730623245239258 + ], + [ + 12.551713943481445, + 0.7813770771026611, + 9.919853210449219 + ], + [ + 12.551713943481445, + 0.7813770771026611, + 9.730623245239258 + ], + [ + 12.362472534179688, + 1.0254685878753662, + 9.919853210449219 + ], + [ + 12.362472534179688, + 1.0254685878753662, + 9.730623245239258 + ], + [ + 12.362472534179688, + 0.7813770771026611, + 9.919853210449219 + ], + [ + 12.362472534179688, + 0.7813770771026611, + 9.730623245239258 + ] + ], + "center": { + "x": 12.457093238830566, + "y": 0.9034228324890137, + "z": 9.825238227844238 + }, + "size": { + "x": 0.1892414093017578, + "y": 0.24409151077270508, + "z": 0.18922996520996094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.362526893615723, + 0.7813833951950073, + 9.919867515563965 + ], + [ + 12.362518310546875, + 0.7813540697097778, + 9.7306547164917 + ], + [ + 12.55173110961914, + 0.7814096212387085, + 9.730646133422852 + ], + [ + 12.551739692687988, + 0.781438946723938, + 9.919858932495117 + ], + [ + 12.362455368041992, + 1.025429368019104, + 9.919830322265625 + ], + [ + 12.362446784973145, + 1.0254000425338745, + 9.73061752319336 + ], + [ + 12.55165958404541, + 1.0254557132720947, + 9.730608940124512 + ], + [ + 12.551668167114258, + 1.0254850387573242, + 9.919821739196777 + ] + ] + } + } + }, + { + "objectId": "Bed|7|0", + "object_info": { + "name": "Bed|7|0", + "position": { + "x": 10.725515365600586, + "y": 0.006915569305419922, + "z": 7.177788257598877 + }, + "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": 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": [], + "distance": 4.231863498687744, + "objectType": "Bed", + "objectId": "Bed|7|0", + "assetId": "Bed_18_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.294797897338867, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 6.211674690246582 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 6.211674690246582 + ], + [ + 10.144998550415039, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 10.144998550415039, + 1.5835180282592773, + 6.211674690246582 + ], + [ + 10.144998550415039, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144998550415039, + 2.384185791015625e-07, + 6.211674690246582 + ] + ], + "center": { + "x": 10.719898223876953, + "y": 0.7917591333389282, + "z": 7.141336917877197 + }, + "size": { + "x": 1.1497993469238281, + "y": 1.5835177898406982, + "z": 1.8593244552612305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.144999504089355, + 2.384185791015625e-07, + 6.21167516708374 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 6.21167516708374 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144999504089355, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144999504089355, + 1.5835180282592773, + 6.21167516708374 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 6.21167516708374 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 10.144999504089355, + 1.5835180282592773, + 8.070999145507812 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|7|50", + "object_info": { + "name": "DeskLamp|surface|7|50", + "position": { + "x": 10.001484870910645, + "y": 0.7588454484939575, + "z": 4.85770845413208 + }, + "rotation": { + "x": -0.000987973646260798, + "y": 269.9997863769531, + "z": 0.0013365213526412845 + }, + "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": 6.393872261047363, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|7|50", + "assetId": "Desk_Lamp_3", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.095865249633789, + 1.1126537322998047, + 4.952638626098633 + ], + [ + 10.095865249633789, + 1.1126537322998047, + 4.763884544372559 + ], + [ + 10.095865249633789, + 0.7581871747970581, + 4.952638626098633 + ], + [ + 10.095865249633789, + 0.7581871747970581, + 4.763884544372559 + ], + [ + 9.907114028930664, + 1.1126537322998047, + 4.952638626098633 + ], + [ + 9.907114028930664, + 1.1126537322998047, + 4.763884544372559 + ], + [ + 9.907114028930664, + 0.7581871747970581, + 4.952638626098633 + ], + [ + 9.907114028930664, + 0.7581871747970581, + 4.763884544372559 + ] + ], + "center": { + "x": 10.001489639282227, + "y": 0.9354204535484314, + "z": 4.858261585235596 + }, + "size": { + "x": 0.188751220703125, + "y": 0.3544665575027466, + "z": 0.18875408172607422 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.907109260559082, + 0.7581932544708252, + 4.952643394470215 + ], + [ + 9.907109260559082, + 0.7581888437271118, + 4.763892650604248 + ], + [ + 10.095860481262207, + 0.7581855654716492, + 4.7638936042785645 + ], + [ + 10.095860481262207, + 0.7581899762153625, + 4.952644348144531 + ], + [ + 9.90711498260498, + 1.1126545667648315, + 4.952635288238525 + ], + [ + 9.907115936279297, + 1.1126501560211182, + 4.763884544372559 + ], + [ + 10.095867156982422, + 1.1126468181610107, + 4.763885021209717 + ], + [ + 10.095866203308105, + 1.1126512289047241, + 4.952635765075684 + ] + ] + } + } + }, + { + "objectId": "Chair|7|5|1", + "object_info": { + "name": "Chair|7|5|1", + "position": { + "x": 10.011176109313965, + "y": 2.7120113372802734e-06, + "z": 4.270720958709717 + }, + "rotation": { + "x": -0.0, + "y": 17.595090866088867, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 7.037205219268799, + "objectType": "Chair", + "objectId": "Chair|7|5|1", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.311431884765625, + 0.7892909049987793, + 4.576460361480713 + ], + [ + 10.311431884765625, + 0.7892909049987793, + 3.9585928916931152 + ], + [ + 10.311431884765625, + 2.6226043701171875e-06, + 4.576460361480713 + ], + [ + 10.311431884765625, + 2.6226043701171875e-06, + 3.9585928916931152 + ], + [ + 9.687801361083984, + 0.7892909049987793, + 4.576460361480713 + ], + [ + 9.687801361083984, + 0.7892909049987793, + 3.9585928916931152 + ], + [ + 9.687801361083984, + 2.6226043701171875e-06, + 4.576460361480713 + ], + [ + 9.687801361083984, + 2.6226043701171875e-06, + 3.9585928916931152 + ] + ], + "center": { + "x": 9.999616622924805, + "y": 0.3946467638015747, + "z": 4.267526626586914 + }, + "size": { + "x": 0.6236305236816406, + "y": 0.7892882823944092, + "z": 0.6178674697875977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.399356842041016, + 2.682209014892578e-06, + 4.44607400894165 + ], + [ + 9.793795585632324, + 2.682209014892578e-06, + 4.6381120681762695 + ], + [ + 9.610053062438965, + 2.682209014892578e-06, + 4.058709144592285 + ], + [ + 10.215614318847656, + 2.682209014892578e-06, + 3.866671085357666 + ], + [ + 10.399356842041016, + 0.7892910242080688, + 4.44607400894165 + ], + [ + 9.793795585632324, + 0.7892910242080688, + 4.6381120681762695 + ], + [ + 9.610053062438965, + 0.7892910242080688, + 4.058709144592285 + ], + [ + 10.215614318847656, + 0.7892910242080688, + 3.866671085357666 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|5|0", + "object_info": { + "name": "DiningTable|7|5|0", + "position": { + "x": 10.002483367919922, + "y": -0.0002084672451019287, + "z": 4.701576232910156 + }, + "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|7|50", + "Watch|surface|7|68", + "Statue|surface|7|58", + "Book|surface|7|67", + "HousePlant|surface|7|52", + "RemoteControl|surface|7|60" + ], + "distance": 6.610146522521973, + "objectType": "DiningTable", + "objectId": "DiningTable|7|5|0", + "assetId": "Dining_Table_27_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.69186782836914, + 0.7581897974014282, + 5.048858165740967 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 4.352407932281494 + ], + [ + 10.69186782836914, + 0.0, + 5.048858165740967 + ], + [ + 10.69186782836914, + 0.0, + 4.352407932281494 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 5.048858165740967 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 4.352407932281494 + ], + [ + 9.317548751831055, + 0.0, + 5.048858165740967 + ], + [ + 9.317548751831055, + 0.0, + 4.352407932281494 + ] + ], + "center": { + "x": 10.004708290100098, + "y": 0.3790948987007141, + "z": 4.7006330490112305 + }, + "size": { + "x": 1.374319076538086, + "y": 0.7581897974014282, + "z": 0.6964502334594727 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.317548751831055, + 2.9802322387695312e-08, + 4.352407455444336 + ], + [ + 10.69186782836914, + 2.9802322387695312e-08, + 4.352407455444336 + ], + [ + 10.69186782836914, + 2.9802322387695312e-08, + 5.048858642578125 + ], + [ + 9.317548751831055, + 2.9802322387695312e-08, + 5.048858642578125 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 4.352407455444336 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 4.352407455444336 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 5.048858642578125 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 5.048858642578125 + ] + ] + } + } + }, + { + "objectId": "Book|surface|7|67", + "object_info": { + "name": "Book|surface|7|67", + "position": { + "x": 9.497576713562012, + "y": 0.7577525973320007, + "z": 4.857706069946289 + }, + "rotation": { + "x": -0.0040345573797822, + "y": 269.99945068359375, + "z": 0.08731234818696976 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 6.413608074188232, + "objectType": "Book", + "objectId": "Book|surface|7|67", + "assetId": "Book_6", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.615602493286133, + 0.7944754362106323, + 4.934802055358887 + ], + [ + 9.615602493286133, + 0.7944754362106323, + 4.783980369567871 + ], + [ + 9.615602493286133, + 0.7579644918441772, + 4.934802055358887 + ], + [ + 9.615602493286133, + 0.7579644918441772, + 4.783980369567871 + ], + [ + 9.379552841186523, + 0.7944754362106323, + 4.934802055358887 + ], + [ + 9.379552841186523, + 0.7944754362106323, + 4.783980369567871 + ], + [ + 9.379552841186523, + 0.7579644918441772, + 4.934802055358887 + ], + [ + 9.379552841186523, + 0.7579644918441772, + 4.783980369567871 + ] + ], + "center": { + "x": 9.497577667236328, + "y": 0.7762199640274048, + "z": 4.859391212463379 + }, + "size": { + "x": 0.23604965209960938, + "y": 0.03651094436645508, + "z": 0.15082168579101562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.37955379486084, + 0.7582077383995056, + 4.934800148010254 + ], + [ + 9.379554748535156, + 0.7579780220985413, + 4.784034252166748 + ], + [ + 9.615599632263184, + 0.7579613924026489, + 4.784036636352539 + ], + [ + 9.615598678588867, + 0.7581911683082581, + 4.934802532196045 + ], + [ + 9.379555702209473, + 0.7944782972335815, + 4.934744834899902 + ], + [ + 9.379557609558105, + 0.7942485809326172, + 4.7839789390563965 + ], + [ + 9.615602493286133, + 0.7942319512367249, + 4.7839813232421875 + ], + [ + 9.615601539611816, + 0.794461727142334, + 4.934747219085693 + ] + ] + } + } + }, + { + "objectId": "Sofa|3|2", + "object_info": { + "name": "Sofa|3|2", + "position": { + "x": 4.323193550109863, + "y": 0.014654487371444702, + "z": 4.546697616577148 + }, + "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": [], + "distance": 8.828702926635742, + "objectType": "Sofa", + "objectId": "Sofa|3|2", + "assetId": "Sofa_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 5.564852714538574, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 4.072991371154785 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 4.072991371154785 + ] + ], + "center": { + "x": 4.324062824249268, + "y": 0.454947292804718, + "z": 4.537222862243652 + }, + "size": { + "x": 2.4815797805786133, + "y": 0.9099123477935791, + "z": 0.9284629821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 4.072990894317627 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.100000381469727, + "y": 0.9009997844696045, + "z": 11.399999618530273 + }, + "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": 10.100000381469727, + "y": 1.5759997367858887, + "z": 11.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|2|1|2", + "DiningTable|2|1|0", + "Chair|2|1|4", + "Vase|surface|2|18" + ], + "different_object": [ + "DiningTable|7|5|0", + "Statue|surface|7|58", + "door|3|7", + "Book|surface|7|67", + "Sofa|3|2", + "TVStand|3|0|0", + "DeskLamp|surface|7|50", + "Painting|3|5", + "Chair|7|5|1", + "RemoteControl|surface|7|60", + "Bed|7|0", + "Chair|7|5|2", + "Painting|2|5" + ] +} \ No newline at end of file diff --git a/train/train1243/0/1_depth_npy.npy b/train/train1243/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f9ce50013d33767b9d0dce9c55c871944af4a26f --- /dev/null +++ b/train/train1243/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89ea8d2c501681e0982a82923c516529fabac98a706d6790b0a4e5fae64419ea +size 3145856 diff --git a/train/train1243/0/1_semantic_sensor_npy.npy b/train/train1243/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..845255244a2e72503cbb0787a32d51aed1c7e9fa --- /dev/null +++ b/train/train1243/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c770e354472abb68fe9693a9881a9d492e0e5497a8e414b9af05eac5ff8e8b7 +size 2359424 diff --git a/train/train1243/0/depth_0.png b/train/train1243/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..80b0db9f106f87ec0e7462e34256c64708e38f89 Binary files /dev/null and b/train/train1243/0/depth_0.png differ diff --git a/train/train1243/0/depth_1.png b/train/train1243/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..17fe297bc79b57b7e5454c3fd1cd61c0270d8849 Binary files /dev/null and b/train/train1243/0/depth_1.png differ diff --git a/train/train1243/0/mask_questions.jsonl b/train/train1243/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1243/0/rgb_0.png b/train/train1243/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b358e999da93d5f22b244325fe07cbee458db612 --- /dev/null +++ b/train/train1243/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcce0f649ad362e4508052f0b9d1fa99bc1c9b54a5ab443a45d20de7638824a7 +size 1103601 diff --git a/train/train1243/0/rgb_1.png b/train/train1243/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ea6ab11cc0a4e13eec1bc07176ef96167e2bb205 --- /dev/null +++ b/train/train1243/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6be6ebcb6fe342979c43d4780fa0e93ab791d06339253da1487aeb982875e551 +size 1089512 diff --git a/train/train1243/0/semantic_0.png b/train/train1243/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c31b417d929b48d276b5623beaa66bd225b00bf4 Binary files /dev/null and b/train/train1243/0/semantic_0.png differ diff --git a/train/train1243/0/semantic_1.png b/train/train1243/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..aab37dbdc679cc7606ff92385ebc19eea1d61e46 Binary files /dev/null and b/train/train1243/0/semantic_1.png differ diff --git a/train/train1243/1/0.json b/train/train1243/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..09a1913c92a23440597b9eb505686bad9f118f76 --- /dev/null +++ b/train/train1243/1/0.json @@ -0,0 +1,2264 @@ +{ + "object": [ + { + "objectId": "RemoteControl|surface|7|60", + "object_info": { + "name": "RemoteControl|surface|7|60", + "position": { + "x": 9.665549278259277, + "y": 0.7598897218704224, + "z": 4.454894065856934 + }, + "rotation": { + "x": 359.9889221191406, + "y": 270.00421142578125, + "z": -0.0019428046653047204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 6.804794788360596, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|7|60", + "assetId": "Remote_1", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.773747444152832, + 0.7768520712852478, + 4.488913059234619 + ], + [ + 9.773747444152832, + 0.7768520712852478, + 4.42087984085083 + ], + [ + 9.773747444152832, + 0.7581748366355896, + 4.488913059234619 + ], + [ + 9.773747444152832, + 0.7581748366355896, + 4.42087984085083 + ], + [ + 9.55814266204834, + 0.7768520712852478, + 4.488913059234619 + ], + [ + 9.55814266204834, + 0.7768520712852478, + 4.42087984085083 + ], + [ + 9.55814266204834, + 0.7581748366355896, + 4.488913059234619 + ], + [ + 9.55814266204834, + 0.7581748366355896, + 4.42087984085083 + ] + ], + "center": { + "x": 9.665945053100586, + "y": 0.7675134539604187, + "z": 4.454896450042725 + }, + "size": { + "x": 0.2156047821044922, + "y": 0.018677234649658203, + "z": 0.06803321838378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.558146476745605, + 0.7582055330276489, + 4.488912582397461 + ], + [ + 9.558141708374023, + 0.7582078576087952, + 4.420891284942627 + ], + [ + 9.7737398147583, + 0.7581661343574524, + 4.420875549316406 + ], + [ + 9.7737455368042, + 0.7581638097763062, + 4.488896369934082 + ], + [ + 9.558150291442871, + 0.7768498063087463, + 4.488913059234619 + ], + [ + 9.558145523071289, + 0.7768521308898926, + 4.420892238616943 + ], + [ + 9.773743629455566, + 0.7768104076385498, + 4.4208760261535645 + ], + [ + 9.773748397827148, + 0.7768081426620483, + 4.488897323608398 + ] + ] + } + } + }, + { + "objectId": "Chair|7|5|2", + "object_info": { + "name": "Chair|7|5|2", + "position": { + "x": 9.999549865722656, + "y": 2.7120113372802734e-06, + "z": 5.130134105682373 + }, + "rotation": { + "x": 0.0, + "y": 193.54702758789062, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 6.185834884643555, + "objectType": "Chair", + "objectId": "Chair|7|5|2", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.322381973266602, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 4.828264236450195 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 4.828264236450195 + ] + ], + "center": { + "x": 10.013111114501953, + "y": 0.3946467638015747, + "z": 5.136933326721191 + }, + "size": { + "x": 0.6185417175292969, + "y": 0.7892882823944092, + "z": 0.6173381805419922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.624715805053711, + 2.682209014892578e-06, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 2.682209014892578e-06, + 4.77900505065918 + ], + [ + 10.384706497192383, + 2.682209014892578e-06, + 5.369933605194092 + ], + [ + 9.767098426818848, + 2.682209014892578e-06, + 5.518743991851807 + ], + [ + 9.624715805053711, + 0.7892910242080688, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 0.7892910242080688, + 4.77900505065918 + ], + [ + 10.384706497192383, + 0.7892910242080688, + 5.369933605194092 + ], + [ + 9.767098426818848, + 0.7892910242080688, + 5.518743991851807 + ] + ] + } + } + }, + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 12.08100700378418, + "y": 1.2658374309539795, + "z": 8.102129936218262 + }, + "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": 3.7911453247070312, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.310551643371582, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 12.310551643371582, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.10099983215332 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.10099983215332 + ] + ], + "center": { + "x": 12.081649780273438, + "y": 1.266290307044983, + "z": 8.110574722290039 + }, + "size": { + "x": 0.45780372619628906, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|3|7", + "object_info": { + "name": "door|3|7", + "position": { + "x": 9.01412296295166, + "y": -0.0022848844528198242, + "z": 6.071704387664795 + }, + "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": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.348142147064209, + "objectType": "Doorway", + "objectId": "door|3|7", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.049091339111328, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 10.049091339111328, + 2.09391450881958, + 6.020133018493652 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.020133018493652 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.020133018493652 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.020133018493652 + ] + ], + "center": { + "x": 9.522216796875, + "y": 1.0459482669830322, + "z": 6.504016399383545 + }, + "size": { + "x": 1.0537490844726562, + "y": 2.0959324836730957, + "z": 0.9677667617797852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|3|0|0", + "object_info": { + "name": "TVStand|3|0|0", + "position": { + "x": 0.4734106659889221, + "y": 3.3974647521972656e-05, + "z": 4.681970596313477 + }, + "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": [ + "Wood" + ], + "receptacleObjectIds": [ + "Pencil|surface|3|27", + "Television|3|0|1", + "CellPhone|surface|3|28" + ], + "distance": 11.606319427490234, + "objectType": "TVStand", + "objectId": "TVStand|3|0|0", + "assetId": "TV_Stand_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9218211770057678, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 4.072999954223633 + ] + ], + "center": { + "x": 0.4734106659889221, + "y": 0.34467315673828125, + "z": 4.681970596313477 + }, + "size": { + "x": 0.8968210220336914, + "y": 0.6893460750579834, + "z": 1.2179412841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9218213558197021, + 0.0, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.0, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.0, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.0, + 4.072999954223633 + ], + [ + 0.9218213558197021, + 0.689346194267273, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.689346194267273, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.689346194267273, + 4.072999954223633 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 12.703603744506836, + "y": 0.0008696913719177246, + "z": 10.49010181427002 + }, + "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": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Apple|surface|2|10", + "Plate|surface|2|14", + "Vase|surface|2|18", + "Toaster|surface|2|6", + "Knife|surface|2|16" + ], + "distance": 2.9490935802459717, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 13.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ], + [ + 12.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ] + ], + "center": { + "x": 12.703603744506836, + "y": 0.390694797039032, + "z": 10.49010181427002 + }, + "size": { + "x": 1.0, + "y": 0.78138267993927, + "z": 1.7713584899902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 12.7034912109375, + "y": 0.0020568668842315674, + "z": 9.442480087280273 + }, + "rotation": { + "x": 0.0, + "y": 351.9521484375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.3740320205688477, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.970809936523438, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.970809936523438, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.159706115722656 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.159706115722656 + ] + ], + "center": { + "x": 12.711771965026855, + "y": 0.44928452372550964, + "z": 9.444377899169922 + }, + "size": { + "x": 0.5180759429931641, + "y": 0.8986034393310547, + "z": 0.5693435668945312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.899356842041016, + -1.6897916793823242e-05, + 9.730544090270996 + ], + [ + 12.43620491027832, + -1.6897916793823242e-05, + 9.665058135986328 + ], + [ + 12.507828712463379, + -1.6897916793823242e-05, + 9.158495903015137 + ], + [ + 12.970980644226074, + -1.6897916793823242e-05, + 9.223981857299805 + ], + [ + 12.899356842041016, + 0.8985857963562012, + 9.730544090270996 + ], + [ + 12.43620491027832, + 0.8985857963562012, + 9.665058135986328 + ], + [ + 12.507828712463379, + 0.8985857963562012, + 9.158495903015137 + ], + [ + 12.970980644226074, + 0.8985857963562012, + 9.223981857299805 + ] + ] + } + } + }, + { + "objectId": "Painting|3|5", + "object_info": { + "name": "Painting|3|5", + "position": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.052995681762695 + }, + "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": 8.489973068237305, + "objectType": "Painting", + "objectId": "Painting|3|5", + "assetId": "Wall_Decor_Photo_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.040939807891846, + 2.305020809173584, + 4.084741115570068 + ], + [ + 6.040939807891846, + 2.305020809173584, + 4.052999973297119 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.052999973297119 + ] + ], + "center": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.068870544433594 + }, + "size": { + "x": 0.8082046508789062, + "y": 0.5759239196777344, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Statue|surface|7|58", + "object_info": { + "name": "Statue|surface|7|58", + "position": { + "x": 9.833518981933594, + "y": 0.7549687027931213, + "z": 4.777151107788086 + }, + "rotation": { + "x": -0.00039967946941033006, + "y": 269.99945068359375, + "z": 359.9224853515625 + }, + "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": 6.476635932922363, + "objectType": "Statue", + "objectId": "Statue|surface|7|58", + "assetId": "Hand_Statue_3", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.914140701293945, + 0.903741717338562, + 4.971059799194336 + ], + [ + 9.914140701293945, + 0.903741717338562, + 4.595634460449219 + ], + [ + 9.914140701293945, + 0.7581862211227417, + 4.971059799194336 + ], + [ + 9.914140701293945, + 0.7581862211227417, + 4.595634460449219 + ], + [ + 9.699321746826172, + 0.903741717338562, + 4.971059799194336 + ], + [ + 9.699321746826172, + 0.903741717338562, + 4.595634460449219 + ], + [ + 9.699321746826172, + 0.7581862211227417, + 4.971059799194336 + ], + [ + 9.699321746826172, + 0.7581862211227417, + 4.595634460449219 + ] + ], + "center": { + "x": 9.806731224060059, + "y": 0.8309639692306519, + "z": 4.783347129821777 + }, + "size": { + "x": 0.21481895446777344, + "y": 0.1455554962158203, + "z": 0.3754253387451172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.699319839477539, + 0.758001983165741, + 4.970942974090576 + ], + [ + 9.699323654174805, + 0.7585098743438721, + 4.595474720001221 + ], + [ + 9.914141654968262, + 0.7585083842277527, + 4.5954766273498535 + ], + [ + 9.914138793945312, + 0.7580004930496216, + 4.970945358276367 + ], + [ + 9.699320793151855, + 0.9033250212669373, + 4.971139907836914 + ], + [ + 9.699324607849121, + 0.9038329124450684, + 4.5956711769104 + ], + [ + 9.914142608642578, + 0.903831422328949, + 4.595673561096191 + ], + [ + 9.914139747619629, + 0.9033235311508179, + 4.971141815185547 + ] + ] + } + } + }, + { + "objectId": "Bed|7|0", + "object_info": { + "name": "Bed|7|0", + "position": { + "x": 10.725515365600586, + "y": 0.006915569305419922, + "z": 7.177788257598877 + }, + "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": 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": [], + "distance": 4.231863498687744, + "objectType": "Bed", + "objectId": "Bed|7|0", + "assetId": "Bed_18_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.294797897338867, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 6.211674690246582 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 6.211674690246582 + ], + [ + 10.144998550415039, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 10.144998550415039, + 1.5835180282592773, + 6.211674690246582 + ], + [ + 10.144998550415039, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144998550415039, + 2.384185791015625e-07, + 6.211674690246582 + ] + ], + "center": { + "x": 10.719898223876953, + "y": 0.7917591333389282, + "z": 7.141336917877197 + }, + "size": { + "x": 1.1497993469238281, + "y": 1.5835177898406982, + "z": 1.8593244552612305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.144999504089355, + 2.384185791015625e-07, + 6.21167516708374 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 6.21167516708374 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144999504089355, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144999504089355, + 1.5835180282592773, + 6.21167516708374 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 6.21167516708374 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 10.144999504089355, + 1.5835180282592773, + 8.070999145507812 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|7|50", + "object_info": { + "name": "DeskLamp|surface|7|50", + "position": { + "x": 10.001484870910645, + "y": 0.7588454484939575, + "z": 4.85770845413208 + }, + "rotation": { + "x": -0.000987973646260798, + "y": 269.9997863769531, + "z": 0.0013365213526412845 + }, + "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": 6.393872261047363, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|7|50", + "assetId": "Desk_Lamp_3", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.095865249633789, + 1.1126537322998047, + 4.952638626098633 + ], + [ + 10.095865249633789, + 1.1126537322998047, + 4.763884544372559 + ], + [ + 10.095865249633789, + 0.7581871747970581, + 4.952638626098633 + ], + [ + 10.095865249633789, + 0.7581871747970581, + 4.763884544372559 + ], + [ + 9.907114028930664, + 1.1126537322998047, + 4.952638626098633 + ], + [ + 9.907114028930664, + 1.1126537322998047, + 4.763884544372559 + ], + [ + 9.907114028930664, + 0.7581871747970581, + 4.952638626098633 + ], + [ + 9.907114028930664, + 0.7581871747970581, + 4.763884544372559 + ] + ], + "center": { + "x": 10.001489639282227, + "y": 0.9354204535484314, + "z": 4.858261585235596 + }, + "size": { + "x": 0.188751220703125, + "y": 0.3544665575027466, + "z": 0.18875408172607422 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.907109260559082, + 0.7581932544708252, + 4.952643394470215 + ], + [ + 9.907109260559082, + 0.7581888437271118, + 4.763892650604248 + ], + [ + 10.095860481262207, + 0.7581855654716492, + 4.7638936042785645 + ], + [ + 10.095860481262207, + 0.7581899762153625, + 4.952644348144531 + ], + [ + 9.90711498260498, + 1.1126545667648315, + 4.952635288238525 + ], + [ + 9.907115936279297, + 1.1126501560211182, + 4.763884544372559 + ], + [ + 10.095867156982422, + 1.1126468181610107, + 4.763885021209717 + ], + [ + 10.095866203308105, + 1.1126512289047241, + 4.952635765075684 + ] + ] + } + } + }, + { + "objectId": "Chair|7|5|1", + "object_info": { + "name": "Chair|7|5|1", + "position": { + "x": 10.011176109313965, + "y": 2.7120113372802734e-06, + "z": 4.270720958709717 + }, + "rotation": { + "x": -0.0, + "y": 17.595090866088867, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 7.037205219268799, + "objectType": "Chair", + "objectId": "Chair|7|5|1", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.311431884765625, + 0.7892909049987793, + 4.576460361480713 + ], + [ + 10.311431884765625, + 0.7892909049987793, + 3.9585928916931152 + ], + [ + 10.311431884765625, + 2.6226043701171875e-06, + 4.576460361480713 + ], + [ + 10.311431884765625, + 2.6226043701171875e-06, + 3.9585928916931152 + ], + [ + 9.687801361083984, + 0.7892909049987793, + 4.576460361480713 + ], + [ + 9.687801361083984, + 0.7892909049987793, + 3.9585928916931152 + ], + [ + 9.687801361083984, + 2.6226043701171875e-06, + 4.576460361480713 + ], + [ + 9.687801361083984, + 2.6226043701171875e-06, + 3.9585928916931152 + ] + ], + "center": { + "x": 9.999616622924805, + "y": 0.3946467638015747, + "z": 4.267526626586914 + }, + "size": { + "x": 0.6236305236816406, + "y": 0.7892882823944092, + "z": 0.6178674697875977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.399356842041016, + 2.682209014892578e-06, + 4.44607400894165 + ], + [ + 9.793795585632324, + 2.682209014892578e-06, + 4.6381120681762695 + ], + [ + 9.610053062438965, + 2.682209014892578e-06, + 4.058709144592285 + ], + [ + 10.215614318847656, + 2.682209014892578e-06, + 3.866671085357666 + ], + [ + 10.399356842041016, + 0.7892910242080688, + 4.44607400894165 + ], + [ + 9.793795585632324, + 0.7892910242080688, + 4.6381120681762695 + ], + [ + 9.610053062438965, + 0.7892910242080688, + 4.058709144592285 + ], + [ + 10.215614318847656, + 0.7892910242080688, + 3.866671085357666 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|5|0", + "object_info": { + "name": "DiningTable|7|5|0", + "position": { + "x": 10.002483367919922, + "y": -0.0002084672451019287, + "z": 4.701576232910156 + }, + "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|7|50", + "Watch|surface|7|68", + "Statue|surface|7|58", + "Book|surface|7|67", + "HousePlant|surface|7|52", + "RemoteControl|surface|7|60" + ], + "distance": 6.610146522521973, + "objectType": "DiningTable", + "objectId": "DiningTable|7|5|0", + "assetId": "Dining_Table_27_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.69186782836914, + 0.7581897974014282, + 5.048858165740967 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 4.352407932281494 + ], + [ + 10.69186782836914, + 0.0, + 5.048858165740967 + ], + [ + 10.69186782836914, + 0.0, + 4.352407932281494 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 5.048858165740967 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 4.352407932281494 + ], + [ + 9.317548751831055, + 0.0, + 5.048858165740967 + ], + [ + 9.317548751831055, + 0.0, + 4.352407932281494 + ] + ], + "center": { + "x": 10.004708290100098, + "y": 0.3790948987007141, + "z": 4.7006330490112305 + }, + "size": { + "x": 1.374319076538086, + "y": 0.7581897974014282, + "z": 0.6964502334594727 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.317548751831055, + 2.9802322387695312e-08, + 4.352407455444336 + ], + [ + 10.69186782836914, + 2.9802322387695312e-08, + 4.352407455444336 + ], + [ + 10.69186782836914, + 2.9802322387695312e-08, + 5.048858642578125 + ], + [ + 9.317548751831055, + 2.9802322387695312e-08, + 5.048858642578125 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 4.352407455444336 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 4.352407455444336 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 5.048858642578125 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 5.048858642578125 + ] + ] + } + } + }, + { + "objectId": "Book|surface|7|67", + "object_info": { + "name": "Book|surface|7|67", + "position": { + "x": 9.497576713562012, + "y": 0.7577525973320007, + "z": 4.857706069946289 + }, + "rotation": { + "x": -0.0040345573797822, + "y": 269.99945068359375, + "z": 0.08731234818696976 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 6.413608074188232, + "objectType": "Book", + "objectId": "Book|surface|7|67", + "assetId": "Book_6", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.615602493286133, + 0.7944754362106323, + 4.934802055358887 + ], + [ + 9.615602493286133, + 0.7944754362106323, + 4.783980369567871 + ], + [ + 9.615602493286133, + 0.7579644918441772, + 4.934802055358887 + ], + [ + 9.615602493286133, + 0.7579644918441772, + 4.783980369567871 + ], + [ + 9.379552841186523, + 0.7944754362106323, + 4.934802055358887 + ], + [ + 9.379552841186523, + 0.7944754362106323, + 4.783980369567871 + ], + [ + 9.379552841186523, + 0.7579644918441772, + 4.934802055358887 + ], + [ + 9.379552841186523, + 0.7579644918441772, + 4.783980369567871 + ] + ], + "center": { + "x": 9.497577667236328, + "y": 0.7762199640274048, + "z": 4.859391212463379 + }, + "size": { + "x": 0.23604965209960938, + "y": 0.03651094436645508, + "z": 0.15082168579101562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.37955379486084, + 0.7582077383995056, + 4.934800148010254 + ], + [ + 9.379554748535156, + 0.7579780220985413, + 4.784034252166748 + ], + [ + 9.615599632263184, + 0.7579613924026489, + 4.784036636352539 + ], + [ + 9.615598678588867, + 0.7581911683082581, + 4.934802532196045 + ], + [ + 9.379555702209473, + 0.7944782972335815, + 4.934744834899902 + ], + [ + 9.379557609558105, + 0.7942485809326172, + 4.7839789390563965 + ], + [ + 9.615602493286133, + 0.7942319512367249, + 4.7839813232421875 + ], + [ + 9.615601539611816, + 0.794461727142334, + 4.934747219085693 + ] + ] + } + } + }, + { + "objectId": "Sofa|3|2", + "object_info": { + "name": "Sofa|3|2", + "position": { + "x": 4.323193550109863, + "y": 0.014654487371444702, + "z": 4.546697616577148 + }, + "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": [], + "distance": 8.828702926635742, + "objectType": "Sofa", + "objectId": "Sofa|3|2", + "assetId": "Sofa_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 5.564852714538574, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 4.072991371154785 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 4.072991371154785 + ] + ], + "center": { + "x": 4.324062824249268, + "y": 0.454947292804718, + "z": 4.537222862243652 + }, + "size": { + "x": 2.4815797805786133, + "y": 0.9099123477935791, + "z": 0.9284629821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 4.072990894317627 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.100000381469727, + "y": 0.9009997844696045, + "z": 11.199999809265137 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 10.100000381469727, + "y": 1.5759997367858887, + "z": 11.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|3|2", + "TVStand|3|0|0" + ], + "different_object": [ + "DiningTable|2|1|0", + "DiningTable|7|5|0", + "Statue|surface|7|58", + "door|3|7", + "Book|surface|7|67", + "DeskLamp|surface|7|50", + "Chair|7|5|2", + "Painting|3|5", + "Chair|7|5|1", + "RemoteControl|surface|7|60", + "Bed|7|0", + "Chair|2|1|2", + "Painting|2|5" + ] +} \ No newline at end of file diff --git a/train/train1243/1/0_depth_npy.npy b/train/train1243/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9743ef43d525eed24fa7112c32d87945ca6e88e0 --- /dev/null +++ b/train/train1243/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec85ad8a0a297a8862de106c82c16764c3ea94d62d01648eb97e4df955cbe0c2 +size 3145856 diff --git a/train/train1243/1/0_semantic_sensor_npy.npy b/train/train1243/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ea6d0a6bc50d4052acb5cd5126cf870a3aea4f83 --- /dev/null +++ b/train/train1243/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1838ad3ae5ab1321c9298e29a5d75d49afec05d1abda0eb54de920bbb07bf1ea +size 2359424 diff --git a/train/train1243/1/1.json b/train/train1243/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..0ec17fe5bb41084acffe0257194368231d059ee0 --- /dev/null +++ b/train/train1243/1/1.json @@ -0,0 +1,2564 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|3|29", + "object_info": { + "name": "Bowl|surface|3|29", + "position": { + "x": 0.6483190655708313, + "y": 0.7828593254089355, + "z": 9.955114364624023 + }, + "rotation": { + "x": 359.9939270019531, + "y": 89.99946594238281, + "z": 0.2549903392791748 + }, + "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": 9.441642761230469, + "objectType": "Bowl", + "objectId": "Bowl|surface|3|29", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.761937141418457, + 0.8713365793228149, + 10.064910888671875 + ], + [ + 0.761937141418457, + 0.8713365793228149, + 9.846681594848633 + ], + [ + 0.761937141418457, + 0.7813478708267212, + 10.064910888671875 + ], + [ + 0.761937141418457, + 0.7813478708267212, + 9.846681594848633 + ], + [ + 0.534426212310791, + 0.8713365793228149, + 10.064910888671875 + ], + [ + 0.534426212310791, + 0.8713365793228149, + 9.846681594848633 + ], + [ + 0.534426212310791, + 0.7813478708267212, + 10.064910888671875 + ], + [ + 0.534426212310791, + 0.7813478708267212, + 9.846681594848633 + ] + ], + "center": { + "x": 0.648181676864624, + "y": 0.8263422250747681, + "z": 9.955796241760254 + }, + "size": { + "x": 0.22751092910766602, + "y": 0.08998870849609375, + "z": 0.2182292938232422 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7619462013244629, + 0.7816263437271118, + 9.846315383911133 + ], + [ + 0.7619442939758301, + 0.7806551456451416, + 10.064541816711426 + ], + [ + 0.53443443775177, + 0.7806310653686523, + 10.064539909362793 + ], + [ + 0.5344363451004028, + 0.7816022634506226, + 9.8463134765625 + ], + [ + 0.7619366645812988, + 0.8720882534980774, + 9.846718788146973 + ], + [ + 0.7619346976280212, + 0.8711169958114624, + 10.06494426727295 + ], + [ + 0.5344248414039612, + 0.8710929155349731, + 10.064942359924316 + ], + [ + 0.5344268083572388, + 0.8720641136169434, + 9.846715927124023 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|3|25", + "object_info": { + "name": "Pen|surface|3|25", + "position": { + "x": 1.0180227756500244, + "y": 0.789418637752533, + "z": 9.733430862426758 + }, + "rotation": { + "x": -1.8773092961055227e-05, + "y": 90.0, + "z": 0.0005206743371672928 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 9.109794616699219, + "objectType": "Pen", + "objectId": "Pen|surface|3|25", + "assetId": "RoboTHOR_pen_signo_v", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0918158292770386, + 0.7973044514656067, + 9.738686561584473 + ], + [ + 1.0918158292770386, + 0.7973044514656067, + 9.728175163269043 + ], + [ + 1.0918158292770386, + 0.7813861966133118, + 9.738686561584473 + ], + [ + 1.0918158292770386, + 0.7813861966133118, + 9.728175163269043 + ], + [ + 0.9503196477890015, + 0.7973044514656067, + 9.738686561584473 + ], + [ + 0.9503196477890015, + 0.7973044514656067, + 9.728175163269043 + ], + [ + 0.9503196477890015, + 0.7813861966133118, + 9.738686561584473 + ], + [ + 0.9503196477890015, + 0.7813861966133118, + 9.728175163269043 + ] + ], + "center": { + "x": 1.02106773853302, + "y": 0.7893453240394592, + "z": 9.733430862426758 + }, + "size": { + "x": 0.1414961814880371, + "y": 0.015918254852294922, + "z": 0.010511398315429688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0918158292770386, + 0.7813863158226013, + 9.728175163269043 + ], + [ + 1.0918158292770386, + 0.7813862562179565, + 9.738685607910156 + ], + [ + 0.9503196477890015, + 0.7813861966133118, + 9.738685607910156 + ], + [ + 0.9503196477890015, + 0.7813862562179565, + 9.728175163269043 + ], + [ + 1.0918158292770386, + 0.7973044514656067, + 9.72817611694336 + ], + [ + 1.0918158292770386, + 0.7973043322563171, + 9.738686561584473 + ], + [ + 0.9503196477890015, + 0.7973042726516724, + 9.738686561584473 + ], + [ + 0.9503196477890015, + 0.7973043918609619, + 9.72817611694336 + ] + ] + } + } + }, + { + "objectId": "Television|3|0|1", + "object_info": { + "name": "Television|3|0|1", + "position": { + "x": 0.5467158555984497, + "y": 1.177729845046997, + "z": 4.681970596313477 + }, + "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": 11.5143461227417, + "objectType": "Television", + "objectId": "Television|3|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|3|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6505399346351624, + 1.4952235221862793, + 5.181970596313477 + ], + [ + 0.6505399346351624, + 1.4952235221862793, + 4.181970596313477 + ], + [ + 0.6505399346351624, + 0.6893458366394043, + 5.181970596313477 + ], + [ + 0.6505399346351624, + 0.6893458366394043, + 4.181970596313477 + ], + [ + 0.2962813973426819, + 1.4952235221862793, + 5.181970596313477 + ], + [ + 0.2962813973426819, + 1.4952235221862793, + 4.181970596313477 + ], + [ + 0.2962813973426819, + 0.6893458366394043, + 5.181970596313477 + ], + [ + 0.2962813973426819, + 0.6893458366394043, + 4.181970596313477 + ] + ], + "center": { + "x": 0.4734106659889221, + "y": 1.0922846794128418, + "z": 4.681970596313477 + }, + "size": { + "x": 0.35425853729248047, + "y": 0.805877685546875, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6505398154258728, + 0.6893460750579834, + 4.181970596313477 + ], + [ + 0.6505399346351624, + 0.6893460750579834, + 5.181970596313477 + ], + [ + 0.2962815463542938, + 0.6893460750579834, + 5.181970596313477 + ], + [ + 0.2962814271450043, + 0.6893460750579834, + 4.181970596313477 + ], + [ + 0.6505398154258728, + 1.4952234029769897, + 4.181970596313477 + ], + [ + 0.6505399346351624, + 1.4952234029769897, + 5.181970596313477 + ], + [ + 0.2962815463542938, + 1.4952234029769897, + 5.181970596313477 + ], + [ + 0.2962814271450043, + 1.4952234029769897, + 4.181970596313477 + ] + ] + } + } + }, + { + "objectId": "Chair|3|1|2", + "object_info": { + "name": "Chair|3|1|2", + "position": { + "x": 0.8951330184936523, + "y": -0.0016570687294006348, + "z": 10.771602630615234 + }, + "rotation": { + "x": -0.0, + "y": 177.3714141845703, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 9.16200065612793, + "objectType": "Chair", + "objectId": "Chair|3|1|2", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.095914363861084, + 0.7736940383911133, + 11.020074844360352 + ], + [ + 1.095914363861084, + 0.7736940383911133, + 10.537618637084961 + ], + [ + 1.095914363861084, + -2.86102294921875e-06, + 11.020074844360352 + ], + [ + 1.095914363861084, + -2.86102294921875e-06, + 10.537618637084961 + ], + [ + 0.6943516731262207, + 0.7736940383911133, + 11.020074844360352 + ], + [ + 0.6943516731262207, + 0.7736940383911133, + 10.537618637084961 + ], + [ + 0.6943516731262207, + -2.86102294921875e-06, + 11.020074844360352 + ], + [ + 0.6943516731262207, + -2.86102294921875e-06, + 10.537618637084961 + ] + ], + "center": { + "x": 0.8951330184936523, + "y": 0.38684558868408203, + "z": 10.778846740722656 + }, + "size": { + "x": 0.4015626907348633, + "y": 0.7736968994140625, + "z": 0.4824562072753906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7150330543518066, + -2.86102294921875e-06, + 10.537619590759277 + ], + [ + 1.095914363861084, + -2.86102294921875e-06, + 10.555106163024902 + ], + [ + 1.074542760848999, + -2.86102294921875e-06, + 11.020620346069336 + ], + [ + 0.6936613321304321, + -2.86102294921875e-06, + 11.003134727478027 + ], + [ + 0.7150330543518066, + 0.7736939191818237, + 10.537619590759277 + ], + [ + 1.095914363861084, + 0.7736939191818237, + 10.555106163024902 + ], + [ + 1.074542760848999, + 0.7736939191818237, + 11.020620346069336 + ], + [ + 0.6936613321304321, + 0.7736939191818237, + 11.003134727478027 + ] + ] + } + } + }, + { + "objectId": "Painting|3|6", + "object_info": { + "name": "Painting|3|6", + "position": { + "x": 0.00355725921690464, + "y": 1.774817943572998, + "z": 10.269536972045898 + }, + "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": 10.082347869873047, + "objectType": "Painting", + "objectId": "Painting|3|6", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.024349283427000046, + 2.08017635345459, + 10.673090934753418 + ], + [ + 0.024349283427000046, + 2.08017635345459, + 9.86740779876709 + ], + [ + 0.024349283427000046, + 1.467041015625, + 10.673090934753418 + ], + [ + 0.024349283427000046, + 1.467041015625, + 9.86740779876709 + ], + [ + 0.004999972879886627, + 2.08017635345459, + 10.673090934753418 + ], + [ + 0.004999972879886627, + 2.08017635345459, + 9.86740779876709 + ], + [ + 0.004999972879886627, + 1.467041015625, + 10.673090934753418 + ], + [ + 0.004999972879886627, + 1.467041015625, + 9.86740779876709 + ] + ], + "center": { + "x": 0.014674628153443336, + "y": 1.773608684539795, + "z": 10.270249366760254 + }, + "size": { + "x": 0.01934931054711342, + "y": 0.6131353378295898, + "z": 0.8056831359863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|3|0|0", + "object_info": { + "name": "TVStand|3|0|0", + "position": { + "x": 0.4734106659889221, + "y": 3.3974647521972656e-05, + "z": 4.681970596313477 + }, + "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": [ + "Wood" + ], + "receptacleObjectIds": [ + "Pencil|surface|3|27", + "Television|3|0|1", + "CellPhone|surface|3|28" + ], + "distance": 11.606319427490234, + "objectType": "TVStand", + "objectId": "TVStand|3|0|0", + "assetId": "TV_Stand_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9218211770057678, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 4.072999954223633 + ] + ], + "center": { + "x": 0.4734106659889221, + "y": 0.34467315673828125, + "z": 4.681970596313477 + }, + "size": { + "x": 0.8968210220336914, + "y": 0.6893460750579834, + "z": 1.2179412841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9218213558197021, + 0.0, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.0, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.0, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.0, + 4.072999954223633 + ], + [ + 0.9218213558197021, + 0.689346194267273, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.689346194267273, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.689346194267273, + 4.072999954223633 + ] + ] + } + } + }, + { + "objectId": "HousePlant|surface|3|23", + "object_info": { + "name": "HousePlant|surface|3|23", + "position": { + "x": 0.6483194828033447, + "y": 0.7837322354316711, + "z": 9.733431816101074 + }, + "rotation": { + "x": -0.00024413458595518023, + "y": 89.9995346069336, + "z": 8.148347114911303e-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": 9.474579811096191, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|3|23", + "assetId": "Houseplant_20", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7499165534973145, + 1.4261322021484375, + 9.843931198120117 + ], + [ + 0.7499165534973145, + 1.4261322021484375, + 9.643632888793945 + ], + [ + 0.7499165534973145, + 0.7813858985900879, + 9.843931198120117 + ], + [ + 0.7499165534973145, + 0.7813858985900879, + 9.643632888793945 + ], + [ + 0.5594165325164795, + 1.4261322021484375, + 9.843931198120117 + ], + [ + 0.5594165325164795, + 1.4261322021484375, + 9.643632888793945 + ], + [ + 0.5594165325164795, + 0.7813858985900879, + 9.843931198120117 + ], + [ + 0.5594165325164795, + 0.7813858985900879, + 9.643632888793945 + ] + ], + "center": { + "x": 0.654666543006897, + "y": 1.1037590503692627, + "z": 9.743782043457031 + }, + "size": { + "x": 0.19050008058547974, + "y": 0.6447463035583496, + "z": 0.20029830932617188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7499202489852905, + 0.7813864350318909, + 9.643632888793945 + ], + [ + 0.7499185800552368, + 0.781386137008667, + 9.84393310546875 + ], + [ + 0.5594185590744019, + 0.7813853621482849, + 9.843931198120117 + ], + [ + 0.5594202280044556, + 0.781385600566864, + 9.643630981445312 + ], + [ + 0.7499175071716309, + 1.4261327981948853, + 9.643633842468262 + ], + [ + 0.7499158382415771, + 1.4261324405670166, + 9.84393310546875 + ], + [ + 0.5594158172607422, + 1.4261317253112793, + 9.843932151794434 + ], + [ + 0.5594174861907959, + 1.4261319637298584, + 9.643631935119629 + ] + ] + } + } + }, + { + "objectId": "DogBed|3|4", + "object_info": { + "name": "DogBed|3|4", + "position": { + "x": 4.013127326965332, + "y": 0.005317606031894684, + "z": 9.063146591186523 + }, + "rotation": { + "x": -0.0006522137555293739, + "y": 89.99972534179688, + "z": -0.00015052949311211705 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.436398029327393, + "objectType": "DogBed", + "objectId": "DogBed|3|4", + "assetId": "Dog_Bed_1_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.600808143615723, + 0.17533546686172485, + 9.651851654052734 + ], + [ + 4.600808143615723, + 0.17533546686172485, + 8.475467681884766 + ], + [ + 4.600808143615723, + 9.219348430633545e-05, + 9.651851654052734 + ], + [ + 4.600808143615723, + 9.219348430633545e-05, + 8.475467681884766 + ], + [ + 3.4244184494018555, + 0.17533546686172485, + 9.651851654052734 + ], + [ + 3.4244184494018555, + 0.17533546686172485, + 8.475467681884766 + ], + [ + 3.4244184494018555, + 9.219348430633545e-05, + 9.651851654052734 + ], + [ + 3.4244184494018555, + 9.219348430633545e-05, + 8.475467681884766 + ] + ], + "center": { + "x": 4.012613296508789, + "y": 0.0877138301730156, + "z": 9.06365966796875 + }, + "size": { + "x": 1.1763896942138672, + "y": 0.17524327337741852, + "z": 1.1763839721679688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.6008124351501465, + 0.00010118354111909866, + 8.475467681884766 + ], + [ + 4.600807189941406, + 0.00010427413508296013, + 9.65185832977295 + ], + [ + 3.4244167804718018, + 9.088311344385147e-05, + 9.65185260772705 + ], + [ + 3.4244225025177, + 8.779251947999e-05, + 8.475461959838867 + ], + [ + 4.600810527801514, + 0.17533430457115173, + 8.47546672821045 + ], + [ + 4.600805282592773, + 0.17533740401268005, + 9.651857376098633 + ], + [ + 3.424414873123169, + 0.1753239929676056, + 9.65185260772705 + ], + [ + 3.4244203567504883, + 0.17532089352607727, + 8.47546100616455 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|3|26", + "object_info": { + "name": "CellPhone|surface|3|26", + "position": { + "x": 1.2644916772842407, + "y": 0.7821366786956787, + "z": 9.733429908752441 + }, + "rotation": { + "x": 6.607647083001211e-05, + "y": 90.0000228881836, + "z": -0.0011862698011100292 + }, + "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": 8.866972923278809, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|3|26", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3553184270858765, + 0.7916063070297241, + 9.777595520019531 + ], + [ + 1.3553184270858765, + 0.7916063070297241, + 9.689264297485352 + ], + [ + 1.3553184270858765, + 0.781385064125061, + 9.777595520019531 + ], + [ + 1.3553184270858765, + 0.781385064125061, + 9.689264297485352 + ], + [ + 1.1752251386642456, + 0.7916063070297241, + 9.777595520019531 + ], + [ + 1.1752251386642456, + 0.7916063070297241, + 9.689264297485352 + ], + [ + 1.1752251386642456, + 0.781385064125061, + 9.777595520019531 + ], + [ + 1.1752251386642456, + 0.781385064125061, + 9.689264297485352 + ] + ], + "center": { + "x": 1.265271782875061, + "y": 0.7864956855773926, + "z": 9.733429908752441 + }, + "size": { + "x": 0.18009328842163086, + "y": 0.010221242904663086, + "z": 0.08833122253417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.355318307876587, + 0.781385064125061, + 9.689264297485352 + ], + [ + 1.3553184270858765, + 0.7813869118690491, + 9.777595520019531 + ], + [ + 1.1752252578735352, + 0.7813870906829834, + 9.777595520019531 + ], + [ + 1.1752251386642456, + 0.7813853025436401, + 9.689264297485352 + ], + [ + 1.355318307876587, + 0.7916042804718018, + 9.689264297485352 + ], + [ + 1.3553184270858765, + 0.7916061282157898, + 9.777595520019531 + ], + [ + 1.1752252578735352, + 0.7916063070297241, + 9.777595520019531 + ], + [ + 1.1752251386642456, + 0.7916044592857361, + 9.689264297485352 + ] + ] + } + } + }, + { + "objectId": "Chair|3|1|4", + "object_info": { + "name": "Chair|3|1|4", + "position": { + "x": 0.3021129369735718, + "y": -0.0016570687294006348, + "z": 9.254061698913574 + }, + "rotation": { + "x": -0.0, + "y": 102.94508361816406, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 9.942212104797363, + "objectType": "Chair", + "objectId": "Chair|3|1|4", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5645661354064941, + 0.7736942768096924, + 9.490368843078613 + ], + [ + 0.5645661354064941, + 0.7736942768096924, + 9.017754554748535 + ], + [ + 0.5645661354064941, + -2.9802322387695312e-06, + 9.490368843078613 + ], + [ + 0.5645661354064941, + -2.9802322387695312e-06, + 9.017754554748535 + ], + [ + 0.027660399675369263, + 0.7736942768096924, + 9.490368843078613 + ], + [ + 0.027660399675369263, + 0.7736942768096924, + 9.017754554748535 + ], + [ + 0.027660399675369263, + -2.9802322387695312e-06, + 9.490368843078613 + ], + [ + 0.027660399675369263, + -2.9802322387695312e-06, + 9.017754554748535 + ] + ], + "center": { + "x": 0.2961132824420929, + "y": 0.3868456482887268, + "z": 9.254061698913574 + }, + "size": { + "x": 0.5369057655334473, + "y": 0.7736972570419312, + "z": 0.4726142883300781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.47915250062942505, + -2.86102294921875e-06, + 9.017754554748535 + ], + [ + 0.5645662546157837, + -2.86102294921875e-06, + 9.389347076416016 + ], + [ + 0.11040489375591278, + -2.86102294921875e-06, + 9.49374008178711 + ], + [ + 0.024991095066070557, + -2.86102294921875e-06, + 9.122147560119629 + ], + [ + 0.47915250062942505, + 0.7736939191818237, + 9.017754554748535 + ], + [ + 0.5645662546157837, + 0.7736939191818237, + 9.389347076416016 + ], + [ + 0.11040489375591278, + 0.7736939191818237, + 9.49374008178711 + ], + [ + 0.024991095066070557, + 0.7736939191818237, + 9.122147560119629 + ] + ] + } + } + }, + { + "objectId": "Chair|3|1|1", + "object_info": { + "name": "Chair|3|1|1", + "position": { + "x": 0.8939499258995056, + "y": -0.0016570687294006348, + "z": 8.695219993591309 + }, + "rotation": { + "x": 0.0, + "y": 353.5942077636719, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 9.50062370300293, + "objectType": "Chair", + "objectId": "Chair|3|1|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1085573434829712, + 0.7736940383911133, + 8.940559387207031 + ], + [ + 1.1085573434829712, + 0.7736940383911133, + 8.43625259399414 + ], + [ + 1.1085573434829712, + -2.9206275939941406e-06, + 8.940559387207031 + ], + [ + 1.1085573434829712, + -2.9206275939941406e-06, + 8.43625259399414 + ], + [ + 0.6793426275253296, + 0.7736940383911133, + 8.940559387207031 + ], + [ + 0.6793426275253296, + 0.7736940383911133, + 8.43625259399414 + ], + [ + 0.6793426275253296, + -2.9206275939941406e-06, + 8.940559387207031 + ], + [ + 0.6793426275253296, + -2.9206275939941406e-06, + 8.43625259399414 + ] + ], + "center": { + "x": 0.8939499855041504, + "y": 0.38684555888175964, + "z": 8.688405990600586 + }, + "size": { + "x": 0.4292147159576416, + "y": 0.7736969590187073, + "z": 0.5043067932128906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0582447052001953, + -2.86102294921875e-06, + 8.940558433532715 + ], + [ + 0.6793426275253296, + -2.86102294921875e-06, + 8.898019790649414 + ], + [ + 0.731334388256073, + -2.86102294921875e-06, + 8.434924125671387 + ], + [ + 1.110236406326294, + -2.86102294921875e-06, + 8.477463722229004 + ], + [ + 1.0582447052001953, + 0.7736939191818237, + 8.940558433532715 + ], + [ + 0.6793426275253296, + 0.7736939191818237, + 8.898019790649414 + ], + [ + 0.731334388256073, + 0.7736939191818237, + 8.434924125671387 + ], + [ + 1.110236406326294, + 0.7736939191818237, + 8.477463722229004 + ] + ] + } + } + }, + { + "objectId": "door|3|4", + "object_info": { + "name": "door|3|4", + "position": { + "x": 3.001622200012207, + "y": -0.0005984306335449219, + "z": 14.16894817352295 + }, + "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": 7.636126518249512, + "objectType": "Doorframe", + "objectId": "door|3|4", + "assetId": "Doorframe_Double_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.0034055709838867, + 2.0993971824645996, + 14.238569259643555 + ], + [ + 3.0034055709838867, + 2.0993971824645996, + 14.097431182861328 + ], + [ + 3.0034055709838867, + -2.384185791015625e-07, + 14.238569259643555 + ], + [ + 3.0034055709838867, + -2.384185791015625e-07, + 14.097431182861328 + ], + [ + 1.0382585525512695, + 2.0993971824645996, + 14.238569259643555 + ], + [ + 1.0382585525512695, + 2.0993971824645996, + 14.097431182861328 + ], + [ + 1.0382585525512695, + -2.384185791015625e-07, + 14.238569259643555 + ], + [ + 1.0382585525512695, + -2.384185791015625e-07, + 14.097431182861328 + ] + ], + "center": { + "x": 2.020832061767578, + "y": 1.0496984720230103, + "z": 14.168000221252441 + }, + "size": { + "x": 1.9651470184326172, + "y": 2.0993974208831787, + "z": 0.14113807678222656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cart|3|3", + "object_info": { + "name": "Cart|3|3", + "position": { + "x": 5.675395488739014, + "y": 0.001794278621673584, + "z": 11.136954307556152 + }, + "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": 4.418546676635742, + "objectType": "Cart", + "objectId": "Cart|3|3", + "assetId": "Cart_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.040007591247559, + 1.2826995849609375, + 11.401283264160156 + ], + [ + 6.040007591247559, + 1.2826995849609375, + 10.861614227294922 + ], + [ + 6.040007591247559, + 5.364418029785156e-07, + 11.401283264160156 + ], + [ + 6.040007591247559, + 5.364418029785156e-07, + 10.861614227294922 + ], + [ + 5.328142166137695, + 1.2826995849609375, + 11.401283264160156 + ], + [ + 5.328142166137695, + 1.2826995849609375, + 10.861614227294922 + ], + [ + 5.328142166137695, + 5.364418029785156e-07, + 11.401283264160156 + ], + [ + 5.328142166137695, + 5.364418029785156e-07, + 10.861614227294922 + ] + ], + "center": { + "x": 5.684074878692627, + "y": 0.6413500905036926, + "z": 11.131448745727539 + }, + "size": { + "x": 0.7118654251098633, + "y": 1.2826991081237793, + "z": 0.5396690368652344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|3|1|0", + "object_info": { + "name": "DiningTable|3|1|0", + "position": { + "x": 0.894788384437561, + "y": 0.0008696913719177246, + "z": 9.733430862426758 + }, + "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": [ + "Box|surface|3|24", + "Bowl|surface|3|29", + "HousePlant|surface|3|23", + "Pen|surface|3|25", + "CellPhone|surface|3|26" + ], + "distance": 9.274432182312012, + "objectType": "DiningTable", + "objectId": "DiningTable|3|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3947887420654297, + 0.7813861966133118, + 10.619111061096191 + ], + [ + 1.3947887420654297, + 0.7813861966133118, + 8.847750663757324 + ], + [ + 1.3947887420654297, + 3.4570693969726562e-06, + 10.619111061096191 + ], + [ + 1.3947887420654297, + 3.4570693969726562e-06, + 8.847750663757324 + ], + [ + 0.3947880268096924, + 0.7813861966133118, + 10.619111061096191 + ], + [ + 0.3947880268096924, + 0.7813861966133118, + 8.847750663757324 + ], + [ + 0.3947880268096924, + 3.4570693969726562e-06, + 10.619111061096191 + ], + [ + 0.3947880268096924, + 3.4570693969726562e-06, + 8.847750663757324 + ] + ], + "center": { + "x": 0.894788384437561, + "y": 0.39069482684135437, + "z": 9.733430862426758 + }, + "size": { + "x": 1.0000007152557373, + "y": 0.7813827395439148, + "z": 1.7713603973388672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3947882652282715, + 3.6954879760742188e-06, + 8.84775161743164 + ], + [ + 1.3947885036468506, + 3.6954879760742188e-06, + 10.619110107421875 + ], + [ + 0.3947884440422058, + 3.6954879760742188e-06, + 10.619110107421875 + ], + [ + 0.3947882056236267, + 3.6954879760742188e-06, + 8.84775161743164 + ], + [ + 1.3947882652282715, + 0.7813860774040222, + 8.84775161743164 + ], + [ + 1.3947885036468506, + 0.7813860774040222, + 10.619110107421875 + ], + [ + 0.3947884440422058, + 0.7813860774040222, + 10.619110107421875 + ], + [ + 0.3947882056236267, + 0.7813860774040222, + 8.84775161743164 + ] + ] + } + } + }, + { + "objectId": "Box|surface|3|24", + "object_info": { + "name": "Box|surface|3|24", + "position": { + "x": 1.0180259943008423, + "y": 0.9703553915023804, + "z": 9.29020881652832 + }, + "rotation": { + "x": 0.0014381064102053642, + "y": 89.99983978271484, + "z": 0.0012738937512040138 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 9.193553924560547, + "objectType": "Box", + "objectId": "Box|surface|3|24", + "assetId": "Box_28", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0555094480514526, + 1.0004804134368896, + 9.381040573120117 + ], + [ + 1.0555094480514526, + 1.0004804134368896, + 9.199991226196289 + ], + [ + 1.0555094480514526, + 0.781386137008667, + 9.381040573120117 + ], + [ + 1.0555094480514526, + 0.781386137008667, + 9.199991226196289 + ], + [ + 0.814935564994812, + 1.0004804134368896, + 9.381040573120117 + ], + [ + 0.814935564994812, + 1.0004804134368896, + 9.199991226196289 + ], + [ + 0.814935564994812, + 0.781386137008667, + 9.381040573120117 + ], + [ + 0.814935564994812, + 0.781386137008667, + 9.199991226196289 + ] + ], + "center": { + "x": 0.9352225065231323, + "y": 0.8909332752227783, + "z": 9.290515899658203 + }, + "size": { + "x": 0.24057388305664062, + "y": 0.21909427642822266, + "z": 0.18104934692382812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0555063486099243, + 0.7813887596130371, + 9.199992179870605 + ], + [ + 1.0555058717727661, + 0.7813847064971924, + 9.381036758422852 + ], + [ + 0.8149348497390747, + 0.7813907861709595, + 9.381036758422852 + ], + [ + 0.8149353265762329, + 0.7813947796821594, + 9.199991226196289 + ], + [ + 1.0555119514465332, + 1.0004786252975464, + 9.199996948242188 + ], + [ + 1.0555113554000854, + 1.0004745721817017, + 9.38104248046875 + ], + [ + 0.814940333366394, + 1.0004806518554688, + 9.381041526794434 + ], + [ + 0.8149408102035522, + 1.000484585762024, + 9.199995994567871 + ] + ] + } + } + }, + { + "objectId": "Chair|3|1|3", + "object_info": { + "name": "Chair|3|1|3", + "position": { + "x": 0.30215904116630554, + "y": -0.0016570687294006348, + "z": 10.215140342712402 + }, + "rotation": { + "x": -0.0, + "y": 101.26981353759766, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 9.79458236694336, + "objectType": "Chair", + "objectId": "Chair|3|1|3", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.560545027256012, + 0.7736940383911133, + 10.446170806884766 + ], + [ + 0.560545027256012, + 0.7736940383911133, + 9.984109878540039 + ], + [ + 0.560545027256012, + -2.8312206268310547e-06, + 10.446170806884766 + ], + [ + 0.560545027256012, + -2.8312206268310547e-06, + 9.984109878540039 + ], + [ + 0.03134053945541382, + 0.7736940383911133, + 10.446170806884766 + ], + [ + 0.03134053945541382, + 0.7736940383911133, + 9.984109878540039 + ], + [ + 0.03134053945541382, + -2.8312206268310547e-06, + 10.446170806884766 + ], + [ + 0.03134053945541382, + -2.8312206268310547e-06, + 9.984109878540039 + ] + ], + "center": { + "x": 0.2959427833557129, + "y": 0.3868456184864044, + "z": 10.215140342712402 + }, + "size": { + "x": 0.5292044878005981, + "y": 0.7736968994140625, + "z": 0.46206092834472656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.48603129386901855, + -2.86102294921875e-06, + 9.984109878540039 + ], + [ + 0.5605452060699463, + -2.86102294921875e-06, + 10.358040809631348 + ], + [ + 0.10352601110935211, + -2.86102294921875e-06, + 10.449111938476562 + ], + [ + 0.02901211380958557, + -2.86102294921875e-06, + 10.075181007385254 + ], + [ + 0.48603129386901855, + 0.7736939191818237, + 9.984109878540039 + ], + [ + 0.5605452060699463, + 0.7736939191818237, + 10.358040809631348 + ], + [ + 0.10352601110935211, + 0.7736939191818237, + 10.449111938476562 + ], + [ + 0.02901211380958557, + 0.7736939191818237, + 10.075181007385254 + ] + ] + } + } + }, + { + "objectId": "Sofa|3|2", + "object_info": { + "name": "Sofa|3|2", + "position": { + "x": 4.323193550109863, + "y": 0.014654487371444702, + "z": 4.546697616577148 + }, + "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": [], + "distance": 8.828702926635742, + "objectType": "Sofa", + "objectId": "Sofa|3|2", + "assetId": "Sofa_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 5.564852714538574, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 4.072991371154785 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 4.072991371154785 + ] + ], + "center": { + "x": 4.324062824249268, + "y": 0.454947292804718, + "z": 4.537222862243652 + }, + "size": { + "x": 2.4815797805786133, + "y": 0.9099123477935791, + "z": 0.9284629821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 4.072990894317627 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.300000190734863, + "y": 0.9009997844696045, + "z": 11.199999809265137 + }, + "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": 10.300000190734863, + "y": 1.5759997367858887, + "z": 11.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|3|2", + "TVStand|3|0|0" + ], + "different_object": [ + "Chair|3|1|4", + "door|3|4", + "Box|surface|3|24", + "Chair|3|1|2", + "Pen|surface|3|25", + "Bowl|surface|3|29", + "Chair|3|1|1", + "CellPhone|surface|3|26", + "Television|3|0|1", + "DogBed|3|4", + "Cart|3|3", + "Chair|3|1|3", + "HousePlant|surface|3|23", + "DiningTable|3|1|0", + "Painting|3|6" + ] +} \ No newline at end of file diff --git a/train/train1243/1/1_depth_npy.npy b/train/train1243/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0ce3f002baec500af946e86bb42dc6f64ecffba2 --- /dev/null +++ b/train/train1243/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ef5861cdace626a405a3774ca557a7bb949bd48ec082002391397364ec9ccf7 +size 3145856 diff --git a/train/train1243/1/1_semantic_sensor_npy.npy b/train/train1243/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..32e5fb0b43ac27a5080f73131009ac09f11ea5e8 --- /dev/null +++ b/train/train1243/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e8d59c593129fb2061d9f396b180efe30644af89585359569ee82fbb9d5a5a8 +size 2359424 diff --git a/train/train1243/1/depth_0.png b/train/train1243/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78ddcd51ed538a7c53c4545ba655e61076e7d2d4 Binary files /dev/null and b/train/train1243/1/depth_0.png differ diff --git a/train/train1243/1/depth_1.png b/train/train1243/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5db1ce51239471c1b2c97bcf00fa86a1c7f6b81b Binary files /dev/null and b/train/train1243/1/depth_1.png differ diff --git a/train/train1243/1/mask_questions.jsonl b/train/train1243/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29cbbe2e5afc393cedf02bb068655df07f265fd4 --- /dev/null +++ b/train/train1243/1/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 4843, "folder_dir": "train1243/1", "pair_name": "0-1:Sofa|3|2", "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. Painting\nC. TVStand\nD. Sofa", "answer": "D", "object_name": "Sofa", "image_1": "train1243/1/rgb_0.png", "image_2": "train1243/1/rgb_1.png", "mask_image": "train1243/1/rgb_1_mask_Sofa|3|2.png", "options": ["DiningTable", "Painting", "TVStand", "Sofa"]} +{"id": 4844, "folder_dir": "train1243/1", "pair_name": "1-0:Sofa|3|2", "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. TVStand\nB. Box\nC. Television\nD. Sofa", "answer": "D", "object_name": "Sofa", "image_1": "train1243/1/rgb_1.png", "image_2": "train1243/1/rgb_0.png", "mask_image": "train1243/1/rgb_0_mask_Sofa|3|2.png", "options": ["TVStand", "Box", "Television", "Sofa"]} diff --git a/train/train1243/1/questions_distance.jsonl b/train/train1243/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf773da60f696532923f907f0f755e38c3a6d799 --- /dev/null +++ b/train/train1243/1/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1962, "folder_dir": "train1243/1", "query": "Which of the following objects is closest to Sofa 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. TVStand\nB. Television\nC. DogBed\nD. Other\n", "answer": "A", "src_object": "Sofa", "target_object": "TVStand", "question": "Which of the following objects is closest to Sofa 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": "TVStand", "semantic_id": "TVStand|3|0|0", "distance": 3.8549493298250503, "com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}}, {"text": "Television", "semantic_id": "Television|3|0|1", "distance": 3.9057230949981436, "com": {"x": 0.4734106659889221, "y": 1.0922846794128418, "z": 4.681970596313477}}, {"text": "DogBed", "semantic_id": "DogBed|3|4", "distance": 4.551976645439765, "com": {"x": 4.012613296508789, "y": 0.0877138301730156, "z": 9.06365966796875}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1243/1/rgb_0.png", "image_2": "train1243/1/rgb_1.png"} diff --git a/train/train1243/1/rgb_0.png b/train/train1243/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1b087b2492e8f32e0166c19c2693b83fa6f56814 --- /dev/null +++ b/train/train1243/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ab23759e29fd43b1de68b5298c17db6264f55c13f734cdba37d7903fb54905d +size 938848 diff --git a/train/train1243/1/rgb_0_mask_Sofa|3|2.png b/train/train1243/1/rgb_0_mask_Sofa|3|2.png new file mode 100644 index 0000000000000000000000000000000000000000..80be866e4347b16fe7803458570000383bcd4edc --- /dev/null +++ b/train/train1243/1/rgb_0_mask_Sofa|3|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53e58443d97520650ba37a19203eb7e65da1feae0a60242f4d76b53af87f78c5 +size 826363 diff --git a/train/train1243/1/rgb_1.png b/train/train1243/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..05948d34ffa0ad1228cd3ad3b46994bb98a198b4 --- /dev/null +++ b/train/train1243/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1a37829fd63ec744a47066a32fe75483a9b189cf57ee07f9f77010edb17ea66 +size 997671 diff --git a/train/train1243/1/rgb_1_mask_Sofa|3|2.png b/train/train1243/1/rgb_1_mask_Sofa|3|2.png new file mode 100644 index 0000000000000000000000000000000000000000..3d344df647e2f28b8140ed5215af18e6f8a69bbb --- /dev/null +++ b/train/train1243/1/rgb_1_mask_Sofa|3|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54c83ea75b278df47a8adf5abbfec71961ecf26858b146f3bf66c824e7b026a1 +size 880530 diff --git a/train/train1243/1/semantic_0.png b/train/train1243/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ff89814aa377fc8c702a5e13231d6a4678cfb3fc Binary files /dev/null and b/train/train1243/1/semantic_0.png differ diff --git a/train/train1243/1/semantic_1.png b/train/train1243/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..29d538ea4810686bc2613ec938655027e7d77011 Binary files /dev/null and b/train/train1243/1/semantic_1.png differ diff --git a/train/train1243/2/0.json b/train/train1243/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1e2b053e83f4475737431d3e4c08e0c5ee3aef9d --- /dev/null +++ b/train/train1243/2/0.json @@ -0,0 +1,2022 @@ +{ + "object": [ + { + "objectId": "Chair|2|1|1", + "object_info": { + "name": "Chair|2|1|1", + "position": { + "x": 12.703567504882812, + "y": 0.0020568668842315674, + "z": 11.537726402282715 + }, + "rotation": { + "x": -0.0, + "y": 167.5660858154297, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 2.8635926246643066, + "objectType": "Chair", + "objectId": "Chair|2|1|1", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.97079086303711, + 0.8985862731933594, + 11.834648132324219 + ], + [ + 12.97079086303711, + 0.8985862731933594, + 11.23782730102539 + ], + [ + 12.97079086303711, + -1.71661376953125e-05, + 11.834648132324219 + ], + [ + 12.97079086303711, + -1.71661376953125e-05, + 11.23782730102539 + ], + [ + 12.420413970947266, + 0.8985862731933594, + 11.834648132324219 + ], + [ + 12.420413970947266, + 0.8985862731933594, + 11.23782730102539 + ], + [ + 12.420413970947266, + -1.71661376953125e-05, + 11.834648132324219 + ], + [ + 12.420413970947266, + -1.71661376953125e-05, + 11.23782730102539 + ] + ], + "center": { + "x": 12.695602416992188, + "y": 0.44928455352783203, + "z": 11.536237716674805 + }, + "size": { + "x": 0.5503768920898438, + "y": 0.8986034393310547, + "z": 0.5968208312988281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.530305862426758, + -1.6897916793823242e-05, + 11.235527038574219 + ], + [ + 12.987092971801758, + -1.6897916793823242e-05, + 11.336241722106934 + ], + [ + 12.876938819885254, + -1.6897916793823242e-05, + 11.835843086242676 + ], + [ + 12.420151710510254, + -1.6897916793823242e-05, + 11.735128402709961 + ], + [ + 12.530305862426758, + 0.8985857963562012, + 11.235527038574219 + ], + [ + 12.987092971801758, + 0.8985857963562012, + 11.336241722106934 + ], + [ + 12.876938819885254, + 0.8985857963562012, + 11.835843086242676 + ], + [ + 12.420151710510254, + 0.8985857963562012, + 11.735128402709961 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|2|3", + "object_info": { + "name": "GarbageCan|2|3", + "position": { + "x": 15.982441902160645, + "y": -0.033433347940444946, + "z": 13.002927780151367 + }, + "rotation": { + "x": 0.00022227833687793463, + "y": 270.00030517578125, + "z": -5.7012202887563035e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 6.30361270904541, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|3", + "assetId": "bin_19", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 16.16699981689453, + 0.5722116827964783, + 13.22175407409668 + ], + [ + 16.16699981689453, + 0.5722116827964783, + 12.785345077514648 + ], + [ + 16.16699981689453, + -1.7881393432617188e-07, + 13.22175407409668 + ], + [ + 16.16699981689453, + -1.7881393432617188e-07, + 12.785345077514648 + ], + [ + 15.749481201171875, + 0.5722116827964783, + 13.22175407409668 + ], + [ + 15.749481201171875, + 0.5722116827964783, + 12.785345077514648 + ], + [ + 15.749481201171875, + -1.7881393432617188e-07, + 13.22175407409668 + ], + [ + 15.749481201171875, + -1.7881393432617188e-07, + 12.785345077514648 + ] + ], + "center": { + "x": 15.958240509033203, + "y": 0.286105751991272, + "z": 13.003549575805664 + }, + "size": { + "x": 0.41751861572265625, + "y": 0.5722118616104126, + "z": 0.43640899658203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 15.749483108520508, + -3.475695848464966e-06, + 13.221756935119629 + ], + [ + 15.749480247497559, + -3.043562173843384e-06, + 12.785346031188965 + ], + [ + 16.16699981689453, + -1.4230608940124512e-06, + 12.785343170166016 + ], + [ + 16.167001724243164, + -1.8551945686340332e-06, + 13.221755027770996 + ], + [ + 15.749480247497559, + 0.5722130537033081, + 13.221756935119629 + ], + [ + 15.749478340148926, + 0.5722135305404663, + 12.785346031188965 + ], + [ + 16.1669979095459, + 0.5722150802612305, + 12.785344123840332 + ], + [ + 16.16699981689453, + 0.5722146034240723, + 13.221755027770996 + ] + ] + } + } + }, + { + "objectId": "Knife|surface|2|16", + "object_info": { + "name": "Knife|surface|2|16", + "position": { + "x": 12.459572792053223, + "y": 0.7882995009422302, + "z": 10.673073768615723 + }, + "rotation": { + "x": 0.0030001606792211533, + "y": 266.1201477050781, + "z": 89.98529052734375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.5288424491882324, + "objectType": "Knife", + "objectId": "Knife|surface|2|16", + "assetId": "Knife_4", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.587953567504883, + 0.7952505350112915, + 10.705768585205078 + ], + [ + 12.587953567504883, + 0.7952505350112915, + 10.649765014648438 + ], + [ + 12.587953567504883, + 0.7813800573348999, + 10.705768585205078 + ], + [ + 12.587953567504883, + 0.7813800573348999, + 10.649765014648438 + ], + [ + 12.26280403137207, + 0.7952505350112915, + 10.705768585205078 + ], + [ + 12.26280403137207, + 0.7952505350112915, + 10.649765014648438 + ], + [ + 12.26280403137207, + 0.7813800573348999, + 10.705768585205078 + ], + [ + 12.26280403137207, + 0.7813800573348999, + 10.649765014648438 + ] + ], + "center": { + "x": 12.425378799438477, + "y": 0.7883152961730957, + "z": 10.677766799926758 + }, + "size": { + "x": 0.3251495361328125, + "y": 0.013870477676391602, + "z": 0.056003570556640625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.261394500732422, + 0.7952221632003784, + 10.692672729492188 + ], + [ + 12.261395454406738, + 0.7813666462898254, + 10.692668914794922 + ], + [ + 12.585108757019043, + 0.7813836336135864, + 10.71462345123291 + ], + [ + 12.585107803344727, + 0.7952391505241394, + 10.714627265930176 + ], + [ + 12.264606475830078, + 0.7952343225479126, + 10.645308494567871 + ], + [ + 12.264607429504395, + 0.7813788056373596, + 10.645304679870605 + ], + [ + 12.588321685791016, + 0.7813957929611206, + 10.667259216308594 + ], + [ + 12.5883207321167, + 0.7952513098716736, + 10.667262077331543 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 16.191999435424805, + "y": -0.0005980730056762695, + "z": 11.158844947814941 + }, + "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": 6.25795841217041, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_Double_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 16.27794075012207, + 2.099398136138916, + 11.160629272460938 + ], + [ + 16.27794075012207, + 2.099398136138916, + 9.195480346679688 + ], + [ + 16.27794075012207, + 0.0, + 11.160629272460938 + ], + [ + 16.27794075012207, + 0.0, + 9.195480346679688 + ], + [ + 16.10605812072754, + 2.099398136138916, + 11.160629272460938 + ], + [ + 16.10605812072754, + 2.099398136138916, + 9.195480346679688 + ], + [ + 16.10605812072754, + 0.0, + 11.160629272460938 + ], + [ + 16.10605812072754, + 0.0, + 9.195480346679688 + ] + ], + "center": { + "x": 16.191999435424805, + "y": 1.049699068069458, + "z": 10.178054809570312 + }, + "size": { + "x": 0.17188262939453125, + "y": 2.099398136138916, + "z": 1.96514892578125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Apple|surface|2|10", + "object_info": { + "name": "Apple|surface|2|10", + "position": { + "x": 12.826837539672852, + "y": 0.8428106307983398, + "z": 10.268488883972168 + }, + "rotation": { + "x": 5.00379904178061e-10, + "y": 270.0, + "z": 1.667931209814455e-10 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 2.9929518699645996, + "objectType": "Apple", + "objectId": "Apple|surface|2|10", + "assetId": "Apple_15", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.890546798706055, + 0.9229485988616943, + 10.332198143005371 + ], + [ + 12.890546798706055, + 0.9229485988616943, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.781386137008667, + 10.332198143005371 + ], + [ + 12.890546798706055, + 0.781386137008667, + 10.204779624938965 + ], + [ + 12.763128280639648, + 0.9229485988616943, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.9229485988616943, + 10.204779624938965 + ], + [ + 12.763128280639648, + 0.781386137008667, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.781386137008667, + 10.204779624938965 + ] + ], + "center": { + "x": 12.826837539672852, + "y": 0.8521673679351807, + "z": 10.268488883972168 + }, + "size": { + "x": 0.12741851806640625, + "y": 0.14156246185302734, + "z": 0.12741851806640625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.763128280639648, + 0.7813860774040222, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.7813860774040222, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.7813860774040222, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.7813860774040222, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.9229485988616943, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.9229485988616943, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.9229485988616943, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.9229485988616943, + 10.332198143005371 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|3", + "object_info": { + "name": "Chair|2|1|3", + "position": { + "x": 13.305535316467285, + "y": 0.0020568668842315674, + "z": 10.026357650756836 + }, + "rotation": { + "x": 0.0, + "y": 265.754150390625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.6375765800476074, + "objectType": "Chair", + "objectId": "Chair|2|1|3", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.574703216552734, + 0.8985861539840698, + 10.278678894042969 + ], + [ + 13.574703216552734, + 0.8985861539840698, + 9.791067123413086 + ], + [ + 13.574703216552734, + -1.710653305053711e-05, + 10.278678894042969 + ], + [ + 13.574703216552734, + -1.710653305053711e-05, + 9.791067123413086 + ], + [ + 13.031883239746094, + 0.8985861539840698, + 10.278678894042969 + ], + [ + 13.031883239746094, + 0.8985861539840698, + 9.791067123413086 + ], + [ + 13.031883239746094, + -1.710653305053711e-05, + 10.278678894042969 + ], + [ + 13.031883239746094, + -1.710653305053711e-05, + 9.791067123413086 + ] + ], + "center": { + "x": 13.303293228149414, + "y": 0.44928452372550964, + "z": 10.034873008728027 + }, + "size": { + "x": 0.5428199768066406, + "y": 0.8986032605171204, + "z": 0.4876117706298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 13.031092643737793, + -1.6897916793823242e-05, + 10.240893363952637 + ], + [ + 13.065723419189453, + -1.6897916793823242e-05, + 9.774417877197266 + ], + [ + 13.575920104980469, + -1.6897916793823242e-05, + 9.812294960021973 + ], + [ + 13.541289329528809, + -1.6897916793823242e-05, + 10.278770446777344 + ], + [ + 13.031092643737793, + 0.8985857963562012, + 10.240893363952637 + ], + [ + 13.065723419189453, + 0.8985857963562012, + 9.774417877197266 + ], + [ + 13.575920104980469, + 0.8985857963562012, + 9.812294960021973 + ], + [ + 13.541289329528809, + 0.8985857963562012, + 10.278770446777344 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|2|14", + "object_info": { + "name": "Plate|surface|2|14", + "position": { + "x": 12.457132339477539, + "y": 0.78215491771698, + "z": 10.268486976623535 + }, + "rotation": { + "x": 0.004979568067938089, + "y": 269.999755859375, + "z": -0.0007455655722878873 + }, + "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": 2.648582935333252, + "objectType": "Plate", + "objectId": "Plate|surface|2|14", + "assetId": "Plate_10", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.551633834838867, + 0.804070234298706, + 10.362390518188477 + ], + [ + 12.551633834838867, + 0.804070234298706, + 10.174589157104492 + ], + [ + 12.551633834838867, + 0.7813829183578491, + 10.362390518188477 + ], + [ + 12.551633834838867, + 0.7813829183578491, + 10.174589157104492 + ], + [ + 12.363832473754883, + 0.804070234298706, + 10.362390518188477 + ], + [ + 12.363832473754883, + 0.804070234298706, + 10.174589157104492 + ], + [ + 12.363832473754883, + 0.7813829183578491, + 10.362390518188477 + ], + [ + 12.363832473754883, + 0.7813829183578491, + 10.174589157104492 + ] + ], + "center": { + "x": 12.457733154296875, + "y": 0.7927265763282776, + "z": 10.268489837646484 + }, + "size": { + "x": 0.18780136108398438, + "y": 0.022687315940856934, + "z": 0.18780136108398438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.3638334274292, + 0.7813811898231506, + 10.36238956451416 + ], + [ + 12.363834381103516, + 0.7813836336135864, + 10.174589157104492 + ], + [ + 12.551634788513184, + 0.7813999056816101, + 10.174590110778809 + ], + [ + 12.551633834838867, + 0.7813974618911743, + 10.362390518188477 + ], + [ + 12.363831520080566, + 0.8040520548820496, + 10.36238956451416 + ], + [ + 12.363832473754883, + 0.8040544986724854, + 10.174589157104492 + ], + [ + 12.55163288116455, + 0.8040708303451538, + 10.174590110778809 + ], + [ + 12.551631927490234, + 0.8040683269500732, + 10.362390518188477 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 12.703603744506836, + "y": 0.0008696913719177246, + "z": 10.49010181427002 + }, + "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": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Apple|surface|2|10", + "Plate|surface|2|14", + "Vase|surface|2|18", + "Toaster|surface|2|6", + "Knife|surface|2|16" + ], + "distance": 2.9490935802459717, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 13.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ], + [ + 12.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ] + ], + "center": { + "x": 12.703603744506836, + "y": 0.390694797039032, + "z": 10.49010181427002 + }, + "size": { + "x": 1.0, + "y": 0.78138267993927, + "z": 1.7713584899902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|2|6", + "object_info": { + "name": "Toaster|surface|2|6", + "position": { + "x": 12.457135200500488, + "y": 0.7813865542411804, + "z": 10.490100860595703 + }, + "rotation": { + "x": 3.9323714418060263e-07, + "y": 270.0000915527344, + "z": -9.120484492086689e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.5747363567352295, + "objectType": "Toaster", + "objectId": "Toaster|surface|2|6", + "assetId": "Toaster_19", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.676313400268555, + 1.0108397006988525, + 10.605884552001953 + ], + [ + 12.676313400268555, + 1.0108397006988525, + 10.374317169189453 + ], + [ + 12.676313400268555, + 0.7813866138458252, + 10.605884552001953 + ], + [ + 12.676313400268555, + 0.7813866138458252, + 10.374317169189453 + ], + [ + 12.219575881958008, + 1.0108397006988525, + 10.605884552001953 + ], + [ + 12.219575881958008, + 1.0108397006988525, + 10.374317169189453 + ], + [ + 12.219575881958008, + 0.7813866138458252, + 10.605884552001953 + ], + [ + 12.219575881958008, + 0.7813866138458252, + 10.374317169189453 + ] + ], + "center": { + "x": 12.447944641113281, + "y": 0.8961131572723389, + "z": 10.490100860595703 + }, + "size": { + "x": 0.4567375183105469, + "y": 0.22945308685302734, + "z": 0.2315673828125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.219576835632324, + 0.7813865542411804, + 10.605883598327637 + ], + [ + 12.219576835632324, + 0.7813865542411804, + 10.37431812286377 + ], + [ + 12.676312446594238, + 0.7813865542411804, + 10.37431812286377 + ], + [ + 12.676313400268555, + 0.7813865542411804, + 10.605883598327637 + ], + [ + 12.219576835632324, + 1.010839581489563, + 10.605883598327637 + ], + [ + 12.219576835632324, + 1.010839581489563, + 10.37431812286377 + ], + [ + 12.676312446594238, + 1.010839581489563, + 10.37431812286377 + ], + [ + 12.676313400268555, + 1.010839581489563, + 10.605883598327637 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|4", + "object_info": { + "name": "Chair|2|1|4", + "position": { + "x": 12.101659774780273, + "y": 0.0020568668842315674, + "z": 10.914847373962402 + }, + "rotation": { + "x": -0.0, + "y": 75.39482116699219, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 2.310281276702881, + "objectType": "Chair", + "objectId": "Chair|2|1|4", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.407512664794922, + 0.898586094379425, + 11.189647674560547 + ], + [ + 12.407512664794922, + 0.898586094379425, + 10.62446403503418 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 10.62446403503418 + ], + [ + 11.798370361328125, + 0.898586094379425, + 11.189647674560547 + ], + [ + 11.798370361328125, + 0.898586094379425, + 10.62446403503418 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 10.62446403503418 + ] + ], + "center": { + "x": 12.102941513061523, + "y": 0.44928452372550964, + "z": 10.907055854797363 + }, + "size": { + "x": 0.6091423034667969, + "y": 0.8986031413078308, + "z": 0.5651836395263672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.41020679473877, + -1.6897916793823242e-05, + 10.753159523010254 + ], + [ + 12.292258262634277, + -1.6897916793823242e-05, + 11.205802917480469 + ], + [ + 11.797188758850098, + -1.6897916793823242e-05, + 11.076799392700195 + ], + [ + 11.91513729095459, + -1.6897916793823242e-05, + 10.62415599822998 + ], + [ + 12.41020679473877, + 0.8985857963562012, + 10.753159523010254 + ], + [ + 12.292258262634277, + 0.8985857963562012, + 11.205802917480469 + ], + [ + 11.797188758850098, + 0.8985857963562012, + 11.076799392700195 + ], + [ + 11.91513729095459, + 0.8985857963562012, + 10.62415599822998 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 12.7034912109375, + "y": 0.0020568668842315674, + "z": 9.442480087280273 + }, + "rotation": { + "x": 0.0, + "y": 351.9521484375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.3740320205688477, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.970809936523438, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.970809936523438, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.159706115722656 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.159706115722656 + ] + ], + "center": { + "x": 12.711771965026855, + "y": 0.44928452372550964, + "z": 9.444377899169922 + }, + "size": { + "x": 0.5180759429931641, + "y": 0.8986034393310547, + "z": 0.5693435668945312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.899356842041016, + -1.6897916793823242e-05, + 9.730544090270996 + ], + [ + 12.43620491027832, + -1.6897916793823242e-05, + 9.665058135986328 + ], + [ + 12.507828712463379, + -1.6897916793823242e-05, + 9.158495903015137 + ], + [ + 12.970980644226074, + -1.6897916793823242e-05, + 9.223981857299805 + ], + [ + 12.899356842041016, + 0.8985857963562012, + 9.730544090270996 + ], + [ + 12.43620491027832, + 0.8985857963562012, + 9.665058135986328 + ], + [ + 12.507828712463379, + 0.8985857963562012, + 9.158495903015137 + ], + [ + 12.970980644226074, + 0.8985857963562012, + 9.223981857299805 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|18", + "object_info": { + "name": "Vase|surface|2|18", + "position": { + "x": 12.45712947845459, + "y": 0.7805110812187195, + "z": 9.825257301330566 + }, + "rotation": { + "x": 0.01683419942855835, + "y": 270.0025329589844, + "z": 0.00887954793870449 + }, + "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": 2.842867374420166, + "objectType": "Vase", + "objectId": "Vase|surface|2|18", + "assetId": "Vase_Open_3", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.551713943481445, + 1.0254685878753662, + 9.919853210449219 + ], + [ + 12.551713943481445, + 1.0254685878753662, + 9.730623245239258 + ], + [ + 12.551713943481445, + 0.7813770771026611, + 9.919853210449219 + ], + [ + 12.551713943481445, + 0.7813770771026611, + 9.730623245239258 + ], + [ + 12.362472534179688, + 1.0254685878753662, + 9.919853210449219 + ], + [ + 12.362472534179688, + 1.0254685878753662, + 9.730623245239258 + ], + [ + 12.362472534179688, + 0.7813770771026611, + 9.919853210449219 + ], + [ + 12.362472534179688, + 0.7813770771026611, + 9.730623245239258 + ] + ], + "center": { + "x": 12.457093238830566, + "y": 0.9034228324890137, + "z": 9.825238227844238 + }, + "size": { + "x": 0.1892414093017578, + "y": 0.24409151077270508, + "z": 0.18922996520996094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.362526893615723, + 0.7813833951950073, + 9.919867515563965 + ], + [ + 12.362518310546875, + 0.7813540697097778, + 9.7306547164917 + ], + [ + 12.55173110961914, + 0.7814096212387085, + 9.730646133422852 + ], + [ + 12.551739692687988, + 0.781438946723938, + 9.919858932495117 + ], + [ + 12.362455368041992, + 1.025429368019104, + 9.919830322265625 + ], + [ + 12.362446784973145, + 1.0254000425338745, + 9.73061752319336 + ], + [ + 12.55165958404541, + 1.0254557132720947, + 9.730608940124512 + ], + [ + 12.551668167114258, + 1.0254850387573242, + 9.919821739196777 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|5", + "object_info": { + "name": "Chair|2|1|5", + "position": { + "x": 13.305135726928711, + "y": 0.0020568668842315674, + "z": 10.88064956665039 + }, + "rotation": { + "x": 0.0, + "y": 296.724853515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.4450602531433105, + "objectType": "Chair", + "objectId": "Chair|2|1|5", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.636077880859375, + 0.8985862135887146, + 11.196287155151367 + ], + [ + 13.636077880859375, + 0.8985862135887146, + 10.558515548706055 + ], + [ + 13.636077880859375, + -1.6987323760986328e-05, + 11.196287155151367 + ], + [ + 13.636077880859375, + -1.6987323760986328e-05, + 10.558515548706055 + ], + [ + 12.977371215820312, + 0.8985862135887146, + 11.196287155151367 + ], + [ + 12.977371215820312, + 0.8985862135887146, + 10.558515548706055 + ], + [ + 12.977371215820312, + -1.6987323760986328e-05, + 11.196287155151367 + ], + [ + 12.977371215820312, + -1.6987323760986328e-05, + 10.558515548706055 + ] + ], + "center": { + "x": 13.306724548339844, + "y": 0.4492846131324768, + "z": 10.877401351928711 + }, + "size": { + "x": 0.6587066650390625, + "y": 0.8986032009124756, + "z": 0.6377716064453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 13.180219650268555, + -1.6897916793823242e-05, + 11.205826759338379 + ], + [ + 12.969865798950195, + -1.6897916793823242e-05, + 10.788036346435547 + ], + [ + 13.4268159866333, + -1.6897916793823242e-05, + 10.557965278625488 + ], + [ + 13.63716983795166, + -1.6897916793823242e-05, + 10.975756645202637 + ], + [ + 13.180219650268555, + 0.8985857963562012, + 11.205826759338379 + ], + [ + 12.969865798950195, + 0.8985857963562012, + 10.788036346435547 + ], + [ + 13.4268159866333, + 0.8985857963562012, + 10.557965278625488 + ], + [ + 13.63716983795166, + 0.8985857963562012, + 10.975756645202637 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.300000190734863, + "y": 0.9009997844696045, + "z": 11.100000381469727 + }, + "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": 10.300000190734863, + "y": 1.5759997367858887, + "z": 11.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|2|1|2", + "DiningTable|2|1|0", + "Chair|2|1|4" + ], + "different_object": [ + "door|1|2", + "Knife|surface|2|16", + "Chair|2|1|3", + "Toaster|surface|2|6", + "Plate|surface|2|14", + "Apple|surface|2|10", + "Chair|2|1|5", + "GarbageCan|2|3", + "Chair|2|1|1", + "Vase|surface|2|18" + ] +} \ No newline at end of file diff --git a/train/train1243/2/0_depth_npy.npy b/train/train1243/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e858d2aa6ce3669819671a6a75a4a413d12a1a4a --- /dev/null +++ b/train/train1243/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e19d792de9c890395c4255d66df4c4904189a2f71952a4765854fab19294f11d +size 3145856 diff --git a/train/train1243/2/0_semantic_sensor_npy.npy b/train/train1243/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d24d4de26bd5ca29ed548b0c29ccf9db4b8f6583 --- /dev/null +++ b/train/train1243/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c49ca7591210a67ac43b992361d7182914106427aeba9c0b3a58caf123f84c94 +size 2359424 diff --git a/train/train1243/2/1.json b/train/train1243/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..ecfb85ff3f4daf6c936de390fef0a6dd04fb7b14 --- /dev/null +++ b/train/train1243/2/1.json @@ -0,0 +1,775 @@ +{ + "object": [ + { + "objectId": "Chair|7|5|2", + "object_info": { + "name": "Chair|7|5|2", + "position": { + "x": 9.999549865722656, + "y": 2.7120113372802734e-06, + "z": 5.130134105682373 + }, + "rotation": { + "x": 0.0, + "y": 193.54702758789062, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 6.185834884643555, + "objectType": "Chair", + "objectId": "Chair|7|5|2", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.322381973266602, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 4.828264236450195 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 4.828264236450195 + ] + ], + "center": { + "x": 10.013111114501953, + "y": 0.3946467638015747, + "z": 5.136933326721191 + }, + "size": { + "x": 0.6185417175292969, + "y": 0.7892882823944092, + "z": 0.6173381805419922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.624715805053711, + 2.682209014892578e-06, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 2.682209014892578e-06, + 4.77900505065918 + ], + [ + 10.384706497192383, + 2.682209014892578e-06, + 5.369933605194092 + ], + [ + 9.767098426818848, + 2.682209014892578e-06, + 5.518743991851807 + ], + [ + 9.624715805053711, + 0.7892910242080688, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 0.7892910242080688, + 4.77900505065918 + ], + [ + 10.384706497192383, + 0.7892910242080688, + 5.369933605194092 + ], + [ + 9.767098426818848, + 0.7892910242080688, + 5.518743991851807 + ] + ] + } + } + }, + { + "objectId": "door|3|7", + "object_info": { + "name": "door|3|7", + "position": { + "x": 9.01412296295166, + "y": -0.0022848844528198242, + "z": 6.071704387664795 + }, + "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": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.348142147064209, + "objectType": "Doorway", + "objectId": "door|3|7", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.049091339111328, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 10.049091339111328, + 2.09391450881958, + 6.020133018493652 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.020133018493652 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.020133018493652 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.020133018493652 + ] + ], + "center": { + "x": 9.522216796875, + "y": 1.0459482669830322, + "z": 6.504016399383545 + }, + "size": { + "x": 1.0537490844726562, + "y": 2.0959324836730957, + "z": 0.9677667617797852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 12.703603744506836, + "y": 0.0008696913719177246, + "z": 10.49010181427002 + }, + "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": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Apple|surface|2|10", + "Plate|surface|2|14", + "Vase|surface|2|18", + "Toaster|surface|2|6", + "Knife|surface|2|16" + ], + "distance": 2.9490935802459717, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 13.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ], + [ + 12.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ] + ], + "center": { + "x": 12.703603744506836, + "y": 0.390694797039032, + "z": 10.49010181427002 + }, + "size": { + "x": 1.0, + "y": 0.78138267993927, + "z": 1.7713584899902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|4", + "object_info": { + "name": "Chair|2|1|4", + "position": { + "x": 12.101659774780273, + "y": 0.0020568668842315674, + "z": 10.914847373962402 + }, + "rotation": { + "x": -0.0, + "y": 75.39482116699219, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 2.310281276702881, + "objectType": "Chair", + "objectId": "Chair|2|1|4", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.407512664794922, + 0.898586094379425, + 11.189647674560547 + ], + [ + 12.407512664794922, + 0.898586094379425, + 10.62446403503418 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 10.62446403503418 + ], + [ + 11.798370361328125, + 0.898586094379425, + 11.189647674560547 + ], + [ + 11.798370361328125, + 0.898586094379425, + 10.62446403503418 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 10.62446403503418 + ] + ], + "center": { + "x": 12.102941513061523, + "y": 0.44928452372550964, + "z": 10.907055854797363 + }, + "size": { + "x": 0.6091423034667969, + "y": 0.8986031413078308, + "z": 0.5651836395263672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.41020679473877, + -1.6897916793823242e-05, + 10.753159523010254 + ], + [ + 12.292258262634277, + -1.6897916793823242e-05, + 11.205802917480469 + ], + [ + 11.797188758850098, + -1.6897916793823242e-05, + 11.076799392700195 + ], + [ + 11.91513729095459, + -1.6897916793823242e-05, + 10.62415599822998 + ], + [ + 12.41020679473877, + 0.8985857963562012, + 10.753159523010254 + ], + [ + 12.292258262634277, + 0.8985857963562012, + 11.205802917480469 + ], + [ + 11.797188758850098, + 0.8985857963562012, + 11.076799392700195 + ], + [ + 11.91513729095459, + 0.8985857963562012, + 10.62415599822998 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 12.7034912109375, + "y": 0.0020568668842315674, + "z": 9.442480087280273 + }, + "rotation": { + "x": 0.0, + "y": 351.9521484375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.3740320205688477, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.970809936523438, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.970809936523438, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.159706115722656 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.159706115722656 + ] + ], + "center": { + "x": 12.711771965026855, + "y": 0.44928452372550964, + "z": 9.444377899169922 + }, + "size": { + "x": 0.5180759429931641, + "y": 0.8986034393310547, + "z": 0.5693435668945312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.899356842041016, + -1.6897916793823242e-05, + 9.730544090270996 + ], + [ + 12.43620491027832, + -1.6897916793823242e-05, + 9.665058135986328 + ], + [ + 12.507828712463379, + -1.6897916793823242e-05, + 9.158495903015137 + ], + [ + 12.970980644226074, + -1.6897916793823242e-05, + 9.223981857299805 + ], + [ + 12.899356842041016, + 0.8985857963562012, + 9.730544090270996 + ], + [ + 12.43620491027832, + 0.8985857963562012, + 9.665058135986328 + ], + [ + 12.507828712463379, + 0.8985857963562012, + 9.158495903015137 + ], + [ + 12.970980644226074, + 0.8985857963562012, + 9.223981857299805 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.399999618530273, + "y": 0.9009997844696045, + "z": 11.100000381469727 + }, + "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": 10.399999618530273, + "y": 1.5759997367858887, + "z": 11.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|2|1|2", + "DiningTable|2|1|0", + "Chair|2|1|4" + ], + "different_object": [ + "Chair|7|5|2", + "door|3|7" + ] +} \ No newline at end of file diff --git a/train/train1243/2/1_depth_npy.npy b/train/train1243/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..56b864f3988099a06319201ca223f8f6c3c8ecdd --- /dev/null +++ b/train/train1243/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:723343d82d939ad841037eb2b478a6d1164cfc44d6af626406c7da9a42459e5a +size 3145856 diff --git a/train/train1243/2/1_semantic_sensor_npy.npy b/train/train1243/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fac860d0bcc24313f43ae0f6f3bb98aef21a256a --- /dev/null +++ b/train/train1243/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e0def731219865a86882ba74b7e798489f168a1f0bdb1f3ef7c0d157112b908 +size 2359424 diff --git a/train/train1243/2/depth_0.png b/train/train1243/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..81bdc75d260f5dc2f412a142ae186aeac32079a9 Binary files /dev/null and b/train/train1243/2/depth_0.png differ diff --git a/train/train1243/2/depth_1.png b/train/train1243/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..37ccfceb7eb2eaf0c9b54464b816024d8817e12c Binary files /dev/null and b/train/train1243/2/depth_1.png differ diff --git a/train/train1243/2/mask_questions.jsonl b/train/train1243/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1243/2/rgb_0.png b/train/train1243/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7316c668f3238108b226d099edaf045b5576ad45 --- /dev/null +++ b/train/train1243/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7308d16cc262db0c5a9484725027c41c5466efc13421dd8ba780916fb6ab59f2 +size 1108298 diff --git a/train/train1243/2/rgb_1.png b/train/train1243/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ebe25810e53a0376cce5cd20cd1700184f7dffdb --- /dev/null +++ b/train/train1243/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5067770086743186794ba7d95bc0ab42c7b845c8938667443d13215b9a889f0e +size 957651 diff --git a/train/train1243/2/semantic_0.png b/train/train1243/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..46f168b7de5e160d689070416f326407c0180796 Binary files /dev/null and b/train/train1243/2/semantic_0.png differ diff --git a/train/train1243/2/semantic_1.png b/train/train1243/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3bd48c92e91ccab57d49b3b42c33c63bc7b1989c Binary files /dev/null and b/train/train1243/2/semantic_1.png differ diff --git a/train/train1243/3/0.json b/train/train1243/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..d3bf1b08c9b4187b81c492f90f4d64bc36b48cf4 --- /dev/null +++ b/train/train1243/3/0.json @@ -0,0 +1,2102 @@ +{ + "object": [ + { + "objectId": "RemoteControl|surface|7|60", + "object_info": { + "name": "RemoteControl|surface|7|60", + "position": { + "x": 9.665549278259277, + "y": 0.7598897218704224, + "z": 4.454894065856934 + }, + "rotation": { + "x": 359.9889221191406, + "y": 270.00421142578125, + "z": -0.0019428046653047204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 6.804794788360596, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|7|60", + "assetId": "Remote_1", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.773747444152832, + 0.7768520712852478, + 4.488913059234619 + ], + [ + 9.773747444152832, + 0.7768520712852478, + 4.42087984085083 + ], + [ + 9.773747444152832, + 0.7581748366355896, + 4.488913059234619 + ], + [ + 9.773747444152832, + 0.7581748366355896, + 4.42087984085083 + ], + [ + 9.55814266204834, + 0.7768520712852478, + 4.488913059234619 + ], + [ + 9.55814266204834, + 0.7768520712852478, + 4.42087984085083 + ], + [ + 9.55814266204834, + 0.7581748366355896, + 4.488913059234619 + ], + [ + 9.55814266204834, + 0.7581748366355896, + 4.42087984085083 + ] + ], + "center": { + "x": 9.665945053100586, + "y": 0.7675134539604187, + "z": 4.454896450042725 + }, + "size": { + "x": 0.2156047821044922, + "y": 0.018677234649658203, + "z": 0.06803321838378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.558146476745605, + 0.7582055330276489, + 4.488912582397461 + ], + [ + 9.558141708374023, + 0.7582078576087952, + 4.420891284942627 + ], + [ + 9.7737398147583, + 0.7581661343574524, + 4.420875549316406 + ], + [ + 9.7737455368042, + 0.7581638097763062, + 4.488896369934082 + ], + [ + 9.558150291442871, + 0.7768498063087463, + 4.488913059234619 + ], + [ + 9.558145523071289, + 0.7768521308898926, + 4.420892238616943 + ], + [ + 9.773743629455566, + 0.7768104076385498, + 4.4208760261535645 + ], + [ + 9.773748397827148, + 0.7768081426620483, + 4.488897323608398 + ] + ] + } + } + }, + { + "objectId": "Chair|7|5|2", + "object_info": { + "name": "Chair|7|5|2", + "position": { + "x": 9.999549865722656, + "y": 2.7120113372802734e-06, + "z": 5.130134105682373 + }, + "rotation": { + "x": 0.0, + "y": 193.54702758789062, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 6.185834884643555, + "objectType": "Chair", + "objectId": "Chair|7|5|2", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.322381973266602, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 4.828264236450195 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 4.828264236450195 + ] + ], + "center": { + "x": 10.013111114501953, + "y": 0.3946467638015747, + "z": 5.136933326721191 + }, + "size": { + "x": 0.6185417175292969, + "y": 0.7892882823944092, + "z": 0.6173381805419922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.624715805053711, + 2.682209014892578e-06, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 2.682209014892578e-06, + 4.77900505065918 + ], + [ + 10.384706497192383, + 2.682209014892578e-06, + 5.369933605194092 + ], + [ + 9.767098426818848, + 2.682209014892578e-06, + 5.518743991851807 + ], + [ + 9.624715805053711, + 0.7892910242080688, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 0.7892910242080688, + 4.77900505065918 + ], + [ + 10.384706497192383, + 0.7892910242080688, + 5.369933605194092 + ], + [ + 9.767098426818848, + 0.7892910242080688, + 5.518743991851807 + ] + ] + } + } + }, + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 12.08100700378418, + "y": 1.2658374309539795, + "z": 8.102129936218262 + }, + "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": 3.7911453247070312, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.310551643371582, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 12.310551643371582, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.10099983215332 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.10099983215332 + ] + ], + "center": { + "x": 12.081649780273438, + "y": 1.266290307044983, + "z": 8.110574722290039 + }, + "size": { + "x": 0.45780372619628906, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|3|7", + "object_info": { + "name": "door|3|7", + "position": { + "x": 9.01412296295166, + "y": -0.0022848844528198242, + "z": 6.071704387664795 + }, + "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": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.348142147064209, + "objectType": "Doorway", + "objectId": "door|3|7", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.049091339111328, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 10.049091339111328, + 2.09391450881958, + 6.020133018493652 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.020133018493652 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.020133018493652 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.020133018493652 + ] + ], + "center": { + "x": 9.522216796875, + "y": 1.0459482669830322, + "z": 6.504016399383545 + }, + "size": { + "x": 1.0537490844726562, + "y": 2.0959324836730957, + "z": 0.9677667617797852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|3|0|0", + "object_info": { + "name": "TVStand|3|0|0", + "position": { + "x": 0.4734106659889221, + "y": 3.3974647521972656e-05, + "z": 4.681970596313477 + }, + "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": [ + "Wood" + ], + "receptacleObjectIds": [ + "Pencil|surface|3|27", + "Television|3|0|1", + "CellPhone|surface|3|28" + ], + "distance": 11.606319427490234, + "objectType": "TVStand", + "objectId": "TVStand|3|0|0", + "assetId": "TV_Stand_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9218211770057678, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 4.072999954223633 + ] + ], + "center": { + "x": 0.4734106659889221, + "y": 0.34467315673828125, + "z": 4.681970596313477 + }, + "size": { + "x": 0.8968210220336914, + "y": 0.6893460750579834, + "z": 1.2179412841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9218213558197021, + 0.0, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.0, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.0, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.0, + 4.072999954223633 + ], + [ + 0.9218213558197021, + 0.689346194267273, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.689346194267273, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.689346194267273, + 4.072999954223633 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 12.7034912109375, + "y": 0.0020568668842315674, + "z": 9.442480087280273 + }, + "rotation": { + "x": 0.0, + "y": 351.9521484375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.3740320205688477, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.970809936523438, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.970809936523438, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.159706115722656 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.159706115722656 + ] + ], + "center": { + "x": 12.711771965026855, + "y": 0.44928452372550964, + "z": 9.444377899169922 + }, + "size": { + "x": 0.5180759429931641, + "y": 0.8986034393310547, + "z": 0.5693435668945312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.899356842041016, + -1.6897916793823242e-05, + 9.730544090270996 + ], + [ + 12.43620491027832, + -1.6897916793823242e-05, + 9.665058135986328 + ], + [ + 12.507828712463379, + -1.6897916793823242e-05, + 9.158495903015137 + ], + [ + 12.970980644226074, + -1.6897916793823242e-05, + 9.223981857299805 + ], + [ + 12.899356842041016, + 0.8985857963562012, + 9.730544090270996 + ], + [ + 12.43620491027832, + 0.8985857963562012, + 9.665058135986328 + ], + [ + 12.507828712463379, + 0.8985857963562012, + 9.158495903015137 + ], + [ + 12.970980644226074, + 0.8985857963562012, + 9.223981857299805 + ] + ] + } + } + }, + { + "objectId": "Painting|3|5", + "object_info": { + "name": "Painting|3|5", + "position": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.052995681762695 + }, + "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": 8.489973068237305, + "objectType": "Painting", + "objectId": "Painting|3|5", + "assetId": "Wall_Decor_Photo_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.040939807891846, + 2.305020809173584, + 4.084741115570068 + ], + [ + 6.040939807891846, + 2.305020809173584, + 4.052999973297119 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.052999973297119 + ] + ], + "center": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.068870544433594 + }, + "size": { + "x": 0.8082046508789062, + "y": 0.5759239196777344, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Statue|surface|7|58", + "object_info": { + "name": "Statue|surface|7|58", + "position": { + "x": 9.833518981933594, + "y": 0.7549687027931213, + "z": 4.777151107788086 + }, + "rotation": { + "x": -0.00039967946941033006, + "y": 269.99945068359375, + "z": 359.9224853515625 + }, + "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": 6.476635932922363, + "objectType": "Statue", + "objectId": "Statue|surface|7|58", + "assetId": "Hand_Statue_3", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.914140701293945, + 0.903741717338562, + 4.971059799194336 + ], + [ + 9.914140701293945, + 0.903741717338562, + 4.595634460449219 + ], + [ + 9.914140701293945, + 0.7581862211227417, + 4.971059799194336 + ], + [ + 9.914140701293945, + 0.7581862211227417, + 4.595634460449219 + ], + [ + 9.699321746826172, + 0.903741717338562, + 4.971059799194336 + ], + [ + 9.699321746826172, + 0.903741717338562, + 4.595634460449219 + ], + [ + 9.699321746826172, + 0.7581862211227417, + 4.971059799194336 + ], + [ + 9.699321746826172, + 0.7581862211227417, + 4.595634460449219 + ] + ], + "center": { + "x": 9.806731224060059, + "y": 0.8309639692306519, + "z": 4.783347129821777 + }, + "size": { + "x": 0.21481895446777344, + "y": 0.1455554962158203, + "z": 0.3754253387451172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.699319839477539, + 0.758001983165741, + 4.970942974090576 + ], + [ + 9.699323654174805, + 0.7585098743438721, + 4.595474720001221 + ], + [ + 9.914141654968262, + 0.7585083842277527, + 4.5954766273498535 + ], + [ + 9.914138793945312, + 0.7580004930496216, + 4.970945358276367 + ], + [ + 9.699320793151855, + 0.9033250212669373, + 4.971139907836914 + ], + [ + 9.699324607849121, + 0.9038329124450684, + 4.5956711769104 + ], + [ + 9.914142608642578, + 0.903831422328949, + 4.595673561096191 + ], + [ + 9.914139747619629, + 0.9033235311508179, + 4.971141815185547 + ] + ] + } + } + }, + { + "objectId": "Bed|7|0", + "object_info": { + "name": "Bed|7|0", + "position": { + "x": 10.725515365600586, + "y": 0.006915569305419922, + "z": 7.177788257598877 + }, + "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": 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": [], + "distance": 4.231863498687744, + "objectType": "Bed", + "objectId": "Bed|7|0", + "assetId": "Bed_18_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.294797897338867, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 6.211674690246582 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 6.211674690246582 + ], + [ + 10.144998550415039, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 10.144998550415039, + 1.5835180282592773, + 6.211674690246582 + ], + [ + 10.144998550415039, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144998550415039, + 2.384185791015625e-07, + 6.211674690246582 + ] + ], + "center": { + "x": 10.719898223876953, + "y": 0.7917591333389282, + "z": 7.141336917877197 + }, + "size": { + "x": 1.1497993469238281, + "y": 1.5835177898406982, + "z": 1.8593244552612305 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.144999504089355, + 2.384185791015625e-07, + 6.21167516708374 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 6.21167516708374 + ], + [ + 11.294797897338867, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144999504089355, + 2.384185791015625e-07, + 8.070999145507812 + ], + [ + 10.144999504089355, + 1.5835180282592773, + 6.21167516708374 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 6.21167516708374 + ], + [ + 11.294797897338867, + 1.5835180282592773, + 8.070999145507812 + ], + [ + 10.144999504089355, + 1.5835180282592773, + 8.070999145507812 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|7|50", + "object_info": { + "name": "DeskLamp|surface|7|50", + "position": { + "x": 10.001484870910645, + "y": 0.7588454484939575, + "z": 4.85770845413208 + }, + "rotation": { + "x": -0.000987973646260798, + "y": 269.9997863769531, + "z": 0.0013365213526412845 + }, + "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": 6.393872261047363, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|7|50", + "assetId": "Desk_Lamp_3", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.095865249633789, + 1.1126537322998047, + 4.952638626098633 + ], + [ + 10.095865249633789, + 1.1126537322998047, + 4.763884544372559 + ], + [ + 10.095865249633789, + 0.7581871747970581, + 4.952638626098633 + ], + [ + 10.095865249633789, + 0.7581871747970581, + 4.763884544372559 + ], + [ + 9.907114028930664, + 1.1126537322998047, + 4.952638626098633 + ], + [ + 9.907114028930664, + 1.1126537322998047, + 4.763884544372559 + ], + [ + 9.907114028930664, + 0.7581871747970581, + 4.952638626098633 + ], + [ + 9.907114028930664, + 0.7581871747970581, + 4.763884544372559 + ] + ], + "center": { + "x": 10.001489639282227, + "y": 0.9354204535484314, + "z": 4.858261585235596 + }, + "size": { + "x": 0.188751220703125, + "y": 0.3544665575027466, + "z": 0.18875408172607422 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.907109260559082, + 0.7581932544708252, + 4.952643394470215 + ], + [ + 9.907109260559082, + 0.7581888437271118, + 4.763892650604248 + ], + [ + 10.095860481262207, + 0.7581855654716492, + 4.7638936042785645 + ], + [ + 10.095860481262207, + 0.7581899762153625, + 4.952644348144531 + ], + [ + 9.90711498260498, + 1.1126545667648315, + 4.952635288238525 + ], + [ + 9.907115936279297, + 1.1126501560211182, + 4.763884544372559 + ], + [ + 10.095867156982422, + 1.1126468181610107, + 4.763885021209717 + ], + [ + 10.095866203308105, + 1.1126512289047241, + 4.952635765075684 + ] + ] + } + } + }, + { + "objectId": "Chair|7|5|1", + "object_info": { + "name": "Chair|7|5|1", + "position": { + "x": 10.011176109313965, + "y": 2.7120113372802734e-06, + "z": 4.270720958709717 + }, + "rotation": { + "x": -0.0, + "y": 17.595090866088867, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 7.037205219268799, + "objectType": "Chair", + "objectId": "Chair|7|5|1", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.311431884765625, + 0.7892909049987793, + 4.576460361480713 + ], + [ + 10.311431884765625, + 0.7892909049987793, + 3.9585928916931152 + ], + [ + 10.311431884765625, + 2.6226043701171875e-06, + 4.576460361480713 + ], + [ + 10.311431884765625, + 2.6226043701171875e-06, + 3.9585928916931152 + ], + [ + 9.687801361083984, + 0.7892909049987793, + 4.576460361480713 + ], + [ + 9.687801361083984, + 0.7892909049987793, + 3.9585928916931152 + ], + [ + 9.687801361083984, + 2.6226043701171875e-06, + 4.576460361480713 + ], + [ + 9.687801361083984, + 2.6226043701171875e-06, + 3.9585928916931152 + ] + ], + "center": { + "x": 9.999616622924805, + "y": 0.3946467638015747, + "z": 4.267526626586914 + }, + "size": { + "x": 0.6236305236816406, + "y": 0.7892882823944092, + "z": 0.6178674697875977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.399356842041016, + 2.682209014892578e-06, + 4.44607400894165 + ], + [ + 9.793795585632324, + 2.682209014892578e-06, + 4.6381120681762695 + ], + [ + 9.610053062438965, + 2.682209014892578e-06, + 4.058709144592285 + ], + [ + 10.215614318847656, + 2.682209014892578e-06, + 3.866671085357666 + ], + [ + 10.399356842041016, + 0.7892910242080688, + 4.44607400894165 + ], + [ + 9.793795585632324, + 0.7892910242080688, + 4.6381120681762695 + ], + [ + 9.610053062438965, + 0.7892910242080688, + 4.058709144592285 + ], + [ + 10.215614318847656, + 0.7892910242080688, + 3.866671085357666 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|5|0", + "object_info": { + "name": "DiningTable|7|5|0", + "position": { + "x": 10.002483367919922, + "y": -0.0002084672451019287, + "z": 4.701576232910156 + }, + "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|7|50", + "Watch|surface|7|68", + "Statue|surface|7|58", + "Book|surface|7|67", + "HousePlant|surface|7|52", + "RemoteControl|surface|7|60" + ], + "distance": 6.610146522521973, + "objectType": "DiningTable", + "objectId": "DiningTable|7|5|0", + "assetId": "Dining_Table_27_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.69186782836914, + 0.7581897974014282, + 5.048858165740967 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 4.352407932281494 + ], + [ + 10.69186782836914, + 0.0, + 5.048858165740967 + ], + [ + 10.69186782836914, + 0.0, + 4.352407932281494 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 5.048858165740967 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 4.352407932281494 + ], + [ + 9.317548751831055, + 0.0, + 5.048858165740967 + ], + [ + 9.317548751831055, + 0.0, + 4.352407932281494 + ] + ], + "center": { + "x": 10.004708290100098, + "y": 0.3790948987007141, + "z": 4.7006330490112305 + }, + "size": { + "x": 1.374319076538086, + "y": 0.7581897974014282, + "z": 0.6964502334594727 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.317548751831055, + 2.9802322387695312e-08, + 4.352407455444336 + ], + [ + 10.69186782836914, + 2.9802322387695312e-08, + 4.352407455444336 + ], + [ + 10.69186782836914, + 2.9802322387695312e-08, + 5.048858642578125 + ], + [ + 9.317548751831055, + 2.9802322387695312e-08, + 5.048858642578125 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 4.352407455444336 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 4.352407455444336 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 5.048858642578125 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 5.048858642578125 + ] + ] + } + } + }, + { + "objectId": "Book|surface|7|67", + "object_info": { + "name": "Book|surface|7|67", + "position": { + "x": 9.497576713562012, + "y": 0.7577525973320007, + "z": 4.857706069946289 + }, + "rotation": { + "x": -0.0040345573797822, + "y": 269.99945068359375, + "z": 0.08731234818696976 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 6.413608074188232, + "objectType": "Book", + "objectId": "Book|surface|7|67", + "assetId": "Book_6", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.615602493286133, + 0.7944754362106323, + 4.934802055358887 + ], + [ + 9.615602493286133, + 0.7944754362106323, + 4.783980369567871 + ], + [ + 9.615602493286133, + 0.7579644918441772, + 4.934802055358887 + ], + [ + 9.615602493286133, + 0.7579644918441772, + 4.783980369567871 + ], + [ + 9.379552841186523, + 0.7944754362106323, + 4.934802055358887 + ], + [ + 9.379552841186523, + 0.7944754362106323, + 4.783980369567871 + ], + [ + 9.379552841186523, + 0.7579644918441772, + 4.934802055358887 + ], + [ + 9.379552841186523, + 0.7579644918441772, + 4.783980369567871 + ] + ], + "center": { + "x": 9.497577667236328, + "y": 0.7762199640274048, + "z": 4.859391212463379 + }, + "size": { + "x": 0.23604965209960938, + "y": 0.03651094436645508, + "z": 0.15082168579101562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.37955379486084, + 0.7582077383995056, + 4.934800148010254 + ], + [ + 9.379554748535156, + 0.7579780220985413, + 4.784034252166748 + ], + [ + 9.615599632263184, + 0.7579613924026489, + 4.784036636352539 + ], + [ + 9.615598678588867, + 0.7581911683082581, + 4.934802532196045 + ], + [ + 9.379555702209473, + 0.7944782972335815, + 4.934744834899902 + ], + [ + 9.379557609558105, + 0.7942485809326172, + 4.7839789390563965 + ], + [ + 9.615602493286133, + 0.7942319512367249, + 4.7839813232421875 + ], + [ + 9.615601539611816, + 0.794461727142334, + 4.934747219085693 + ] + ] + } + } + }, + { + "objectId": "Sofa|3|2", + "object_info": { + "name": "Sofa|3|2", + "position": { + "x": 4.323193550109863, + "y": 0.014654487371444702, + "z": 4.546697616577148 + }, + "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": [], + "distance": 8.828702926635742, + "objectType": "Sofa", + "objectId": "Sofa|3|2", + "assetId": "Sofa_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 5.564852714538574, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 4.072991371154785 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 4.072991371154785 + ] + ], + "center": { + "x": 4.324062824249268, + "y": 0.454947292804718, + "z": 4.537222862243652 + }, + "size": { + "x": 2.4815797805786133, + "y": 0.9099123477935791, + "z": 0.9284629821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 4.072990894317627 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.100000381469727, + "y": 0.9009997844696045, + "z": 11.0 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 10.100000381469727, + "y": 1.5759997367858887, + "z": 11.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|2|1|2", + "Painting|2|5" + ], + "different_object": [ + "DiningTable|7|5|0", + "Statue|surface|7|58", + "door|3|7", + "Book|surface|7|67", + "Sofa|3|2", + "TVStand|3|0|0", + "DeskLamp|surface|7|50", + "Painting|3|5", + "Chair|7|5|1", + "RemoteControl|surface|7|60", + "Bed|7|0", + "Chair|7|5|2" + ] +} \ No newline at end of file diff --git a/train/train1243/3/0_depth_npy.npy b/train/train1243/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..41666cb9863d222d32a9a5760f01094ee3aba5e1 --- /dev/null +++ b/train/train1243/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55575b0bf4d92f67385dd26c17a67a9d812efff4a566437f7c76dc992bcb0032 +size 3145856 diff --git a/train/train1243/3/0_semantic_sensor_npy.npy b/train/train1243/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b912a36323b5e5c67ddeda850fda00af81b49418 --- /dev/null +++ b/train/train1243/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14e5130851b1841d4c769360ad0a263cbf5e5bfe5783331de47ba535098c6ea9 +size 2359424 diff --git a/train/train1243/3/1.json b/train/train1243/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f0466e3c0af9d173b4bc614fba1e99f9e6d524af --- /dev/null +++ b/train/train1243/3/1.json @@ -0,0 +1,2473 @@ +{ + "object": [ + { + "objectId": "Chair|2|1|1", + "object_info": { + "name": "Chair|2|1|1", + "position": { + "x": 12.703567504882812, + "y": 0.0020568668842315674, + "z": 11.537726402282715 + }, + "rotation": { + "x": -0.0, + "y": 167.5660858154297, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 2.8635926246643066, + "objectType": "Chair", + "objectId": "Chair|2|1|1", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.97079086303711, + 0.8985862731933594, + 11.834648132324219 + ], + [ + 12.97079086303711, + 0.8985862731933594, + 11.23782730102539 + ], + [ + 12.97079086303711, + -1.71661376953125e-05, + 11.834648132324219 + ], + [ + 12.97079086303711, + -1.71661376953125e-05, + 11.23782730102539 + ], + [ + 12.420413970947266, + 0.8985862731933594, + 11.834648132324219 + ], + [ + 12.420413970947266, + 0.8985862731933594, + 11.23782730102539 + ], + [ + 12.420413970947266, + -1.71661376953125e-05, + 11.834648132324219 + ], + [ + 12.420413970947266, + -1.71661376953125e-05, + 11.23782730102539 + ] + ], + "center": { + "x": 12.695602416992188, + "y": 0.44928455352783203, + "z": 11.536237716674805 + }, + "size": { + "x": 0.5503768920898438, + "y": 0.8986034393310547, + "z": 0.5968208312988281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.530305862426758, + -1.6897916793823242e-05, + 11.235527038574219 + ], + [ + 12.987092971801758, + -1.6897916793823242e-05, + 11.336241722106934 + ], + [ + 12.876938819885254, + -1.6897916793823242e-05, + 11.835843086242676 + ], + [ + 12.420151710510254, + -1.6897916793823242e-05, + 11.735128402709961 + ], + [ + 12.530305862426758, + 0.8985857963562012, + 11.235527038574219 + ], + [ + 12.987092971801758, + 0.8985857963562012, + 11.336241722106934 + ], + [ + 12.876938819885254, + 0.8985857963562012, + 11.835843086242676 + ], + [ + 12.420151710510254, + 0.8985857963562012, + 11.735128402709961 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|2|3", + "object_info": { + "name": "GarbageCan|2|3", + "position": { + "x": 15.982441902160645, + "y": -0.033433347940444946, + "z": 13.002927780151367 + }, + "rotation": { + "x": 0.00022227833687793463, + "y": 270.00030517578125, + "z": -5.7012202887563035e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 6.30361270904541, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|3", + "assetId": "bin_19", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 16.16699981689453, + 0.5722116827964783, + 13.22175407409668 + ], + [ + 16.16699981689453, + 0.5722116827964783, + 12.785345077514648 + ], + [ + 16.16699981689453, + -1.7881393432617188e-07, + 13.22175407409668 + ], + [ + 16.16699981689453, + -1.7881393432617188e-07, + 12.785345077514648 + ], + [ + 15.749481201171875, + 0.5722116827964783, + 13.22175407409668 + ], + [ + 15.749481201171875, + 0.5722116827964783, + 12.785345077514648 + ], + [ + 15.749481201171875, + -1.7881393432617188e-07, + 13.22175407409668 + ], + [ + 15.749481201171875, + -1.7881393432617188e-07, + 12.785345077514648 + ] + ], + "center": { + "x": 15.958240509033203, + "y": 0.286105751991272, + "z": 13.003549575805664 + }, + "size": { + "x": 0.41751861572265625, + "y": 0.5722118616104126, + "z": 0.43640899658203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 15.749483108520508, + -3.475695848464966e-06, + 13.221756935119629 + ], + [ + 15.749480247497559, + -3.043562173843384e-06, + 12.785346031188965 + ], + [ + 16.16699981689453, + -1.4230608940124512e-06, + 12.785343170166016 + ], + [ + 16.167001724243164, + -1.8551945686340332e-06, + 13.221755027770996 + ], + [ + 15.749480247497559, + 0.5722130537033081, + 13.221756935119629 + ], + [ + 15.749478340148926, + 0.5722135305404663, + 12.785346031188965 + ], + [ + 16.1669979095459, + 0.5722150802612305, + 12.785344123840332 + ], + [ + 16.16699981689453, + 0.5722146034240723, + 13.221755027770996 + ] + ] + } + } + }, + { + "objectId": "Knife|surface|2|16", + "object_info": { + "name": "Knife|surface|2|16", + "position": { + "x": 12.459572792053223, + "y": 0.7882995009422302, + "z": 10.673073768615723 + }, + "rotation": { + "x": 0.0030001606792211533, + "y": 266.1201477050781, + "z": 89.98529052734375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.5288424491882324, + "objectType": "Knife", + "objectId": "Knife|surface|2|16", + "assetId": "Knife_4", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.587953567504883, + 0.7952505350112915, + 10.705768585205078 + ], + [ + 12.587953567504883, + 0.7952505350112915, + 10.649765014648438 + ], + [ + 12.587953567504883, + 0.7813800573348999, + 10.705768585205078 + ], + [ + 12.587953567504883, + 0.7813800573348999, + 10.649765014648438 + ], + [ + 12.26280403137207, + 0.7952505350112915, + 10.705768585205078 + ], + [ + 12.26280403137207, + 0.7952505350112915, + 10.649765014648438 + ], + [ + 12.26280403137207, + 0.7813800573348999, + 10.705768585205078 + ], + [ + 12.26280403137207, + 0.7813800573348999, + 10.649765014648438 + ] + ], + "center": { + "x": 12.425378799438477, + "y": 0.7883152961730957, + "z": 10.677766799926758 + }, + "size": { + "x": 0.3251495361328125, + "y": 0.013870477676391602, + "z": 0.056003570556640625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.261394500732422, + 0.7952221632003784, + 10.692672729492188 + ], + [ + 12.261395454406738, + 0.7813666462898254, + 10.692668914794922 + ], + [ + 12.585108757019043, + 0.7813836336135864, + 10.71462345123291 + ], + [ + 12.585107803344727, + 0.7952391505241394, + 10.714627265930176 + ], + [ + 12.264606475830078, + 0.7952343225479126, + 10.645308494567871 + ], + [ + 12.264607429504395, + 0.7813788056373596, + 10.645304679870605 + ], + [ + 12.588321685791016, + 0.7813957929611206, + 10.667259216308594 + ], + [ + 12.5883207321167, + 0.7952513098716736, + 10.667262077331543 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 16.191999435424805, + "y": -0.0005980730056762695, + "z": 11.158844947814941 + }, + "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": 6.25795841217041, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_Double_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 16.27794075012207, + 2.099398136138916, + 11.160629272460938 + ], + [ + 16.27794075012207, + 2.099398136138916, + 9.195480346679688 + ], + [ + 16.27794075012207, + 0.0, + 11.160629272460938 + ], + [ + 16.27794075012207, + 0.0, + 9.195480346679688 + ], + [ + 16.10605812072754, + 2.099398136138916, + 11.160629272460938 + ], + [ + 16.10605812072754, + 2.099398136138916, + 9.195480346679688 + ], + [ + 16.10605812072754, + 0.0, + 11.160629272460938 + ], + [ + 16.10605812072754, + 0.0, + 9.195480346679688 + ] + ], + "center": { + "x": 16.191999435424805, + "y": 1.049699068069458, + "z": 10.178054809570312 + }, + "size": { + "x": 0.17188262939453125, + "y": 2.099398136138916, + "z": 1.96514892578125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Apple|surface|2|10", + "object_info": { + "name": "Apple|surface|2|10", + "position": { + "x": 12.826837539672852, + "y": 0.8428106307983398, + "z": 10.268488883972168 + }, + "rotation": { + "x": 5.00379904178061e-10, + "y": 270.0, + "z": 1.667931209814455e-10 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 2.9929518699645996, + "objectType": "Apple", + "objectId": "Apple|surface|2|10", + "assetId": "Apple_15", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.890546798706055, + 0.9229485988616943, + 10.332198143005371 + ], + [ + 12.890546798706055, + 0.9229485988616943, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.781386137008667, + 10.332198143005371 + ], + [ + 12.890546798706055, + 0.781386137008667, + 10.204779624938965 + ], + [ + 12.763128280639648, + 0.9229485988616943, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.9229485988616943, + 10.204779624938965 + ], + [ + 12.763128280639648, + 0.781386137008667, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.781386137008667, + 10.204779624938965 + ] + ], + "center": { + "x": 12.826837539672852, + "y": 0.8521673679351807, + "z": 10.268488883972168 + }, + "size": { + "x": 0.12741851806640625, + "y": 0.14156246185302734, + "z": 0.12741851806640625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.763128280639648, + 0.7813860774040222, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.7813860774040222, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.7813860774040222, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.7813860774040222, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.9229485988616943, + 10.332198143005371 + ], + [ + 12.763128280639648, + 0.9229485988616943, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.9229485988616943, + 10.204779624938965 + ], + [ + 12.890546798706055, + 0.9229485988616943, + 10.332198143005371 + ] + ] + } + } + }, + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 12.08100700378418, + "y": 1.2658374309539795, + "z": 8.102129936218262 + }, + "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": 3.7911453247070312, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.310551643371582, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 12.310551643371582, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.10099983215332 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.10099983215332 + ] + ], + "center": { + "x": 12.081649780273438, + "y": 1.266290307044983, + "z": 8.110574722290039 + }, + "size": { + "x": 0.45780372619628906, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 16.18700408935547, + "y": 1.3029004335403442, + "z": 15.034930229187012 + }, + "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": 7.264037609100342, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 16.187000274658203, + 1.6312782764434814, + 15.513704299926758 + ], + [ + 16.187000274658203, + 1.6312782764434814, + 14.556156158447266 + ], + [ + 16.187000274658203, + 0.974522590637207, + 15.513704299926758 + ], + [ + 16.187000274658203, + 0.974522590637207, + 14.556156158447266 + ], + [ + 16.155258178710938, + 1.6312782764434814, + 15.513704299926758 + ], + [ + 16.155258178710938, + 1.6312782764434814, + 14.556156158447266 + ], + [ + 16.155258178710938, + 0.974522590637207, + 15.513704299926758 + ], + [ + 16.155258178710938, + 0.974522590637207, + 14.556156158447266 + ] + ], + "center": { + "x": 16.17112922668457, + "y": 1.3029004335403442, + "z": 15.034930229187012 + }, + "size": { + "x": 0.031742095947265625, + "y": 0.6567556858062744, + "z": 0.9575481414794922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|2|1|3", + "object_info": { + "name": "Chair|2|1|3", + "position": { + "x": 13.305535316467285, + "y": 0.0020568668842315674, + "z": 10.026357650756836 + }, + "rotation": { + "x": 0.0, + "y": 265.754150390625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.6375765800476074, + "objectType": "Chair", + "objectId": "Chair|2|1|3", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.574703216552734, + 0.8985861539840698, + 10.278678894042969 + ], + [ + 13.574703216552734, + 0.8985861539840698, + 9.791067123413086 + ], + [ + 13.574703216552734, + -1.710653305053711e-05, + 10.278678894042969 + ], + [ + 13.574703216552734, + -1.710653305053711e-05, + 9.791067123413086 + ], + [ + 13.031883239746094, + 0.8985861539840698, + 10.278678894042969 + ], + [ + 13.031883239746094, + 0.8985861539840698, + 9.791067123413086 + ], + [ + 13.031883239746094, + -1.710653305053711e-05, + 10.278678894042969 + ], + [ + 13.031883239746094, + -1.710653305053711e-05, + 9.791067123413086 + ] + ], + "center": { + "x": 13.303293228149414, + "y": 0.44928452372550964, + "z": 10.034873008728027 + }, + "size": { + "x": 0.5428199768066406, + "y": 0.8986032605171204, + "z": 0.4876117706298828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 13.031092643737793, + -1.6897916793823242e-05, + 10.240893363952637 + ], + [ + 13.065723419189453, + -1.6897916793823242e-05, + 9.774417877197266 + ], + [ + 13.575920104980469, + -1.6897916793823242e-05, + 9.812294960021973 + ], + [ + 13.541289329528809, + -1.6897916793823242e-05, + 10.278770446777344 + ], + [ + 13.031092643737793, + 0.8985857963562012, + 10.240893363952637 + ], + [ + 13.065723419189453, + 0.8985857963562012, + 9.774417877197266 + ], + [ + 13.575920104980469, + 0.8985857963562012, + 9.812294960021973 + ], + [ + 13.541289329528809, + 0.8985857963562012, + 10.278770446777344 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|2|14", + "object_info": { + "name": "Plate|surface|2|14", + "position": { + "x": 12.457132339477539, + "y": 0.78215491771698, + "z": 10.268486976623535 + }, + "rotation": { + "x": 0.004979568067938089, + "y": 269.999755859375, + "z": -0.0007455655722878873 + }, + "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": 2.648582935333252, + "objectType": "Plate", + "objectId": "Plate|surface|2|14", + "assetId": "Plate_10", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.551633834838867, + 0.804070234298706, + 10.362390518188477 + ], + [ + 12.551633834838867, + 0.804070234298706, + 10.174589157104492 + ], + [ + 12.551633834838867, + 0.7813829183578491, + 10.362390518188477 + ], + [ + 12.551633834838867, + 0.7813829183578491, + 10.174589157104492 + ], + [ + 12.363832473754883, + 0.804070234298706, + 10.362390518188477 + ], + [ + 12.363832473754883, + 0.804070234298706, + 10.174589157104492 + ], + [ + 12.363832473754883, + 0.7813829183578491, + 10.362390518188477 + ], + [ + 12.363832473754883, + 0.7813829183578491, + 10.174589157104492 + ] + ], + "center": { + "x": 12.457733154296875, + "y": 0.7927265763282776, + "z": 10.268489837646484 + }, + "size": { + "x": 0.18780136108398438, + "y": 0.022687315940856934, + "z": 0.18780136108398438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.3638334274292, + 0.7813811898231506, + 10.36238956451416 + ], + [ + 12.363834381103516, + 0.7813836336135864, + 10.174589157104492 + ], + [ + 12.551634788513184, + 0.7813999056816101, + 10.174590110778809 + ], + [ + 12.551633834838867, + 0.7813974618911743, + 10.362390518188477 + ], + [ + 12.363831520080566, + 0.8040520548820496, + 10.36238956451416 + ], + [ + 12.363832473754883, + 0.8040544986724854, + 10.174589157104492 + ], + [ + 12.55163288116455, + 0.8040708303451538, + 10.174590110778809 + ], + [ + 12.551631927490234, + 0.8040683269500732, + 10.362390518188477 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 12.703603744506836, + "y": 0.0008696913719177246, + "z": 10.49010181427002 + }, + "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": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Apple|surface|2|10", + "Plate|surface|2|14", + "Vase|surface|2|18", + "Toaster|surface|2|6", + "Knife|surface|2|16" + ], + "distance": 2.9490935802459717, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 13.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ], + [ + 12.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ] + ], + "center": { + "x": 12.703603744506836, + "y": 0.390694797039032, + "z": 10.49010181427002 + }, + "size": { + "x": 1.0, + "y": 0.78138267993927, + "z": 1.7713584899902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|2|6", + "object_info": { + "name": "Toaster|surface|2|6", + "position": { + "x": 12.457135200500488, + "y": 0.7813865542411804, + "z": 10.490100860595703 + }, + "rotation": { + "x": 3.9323714418060263e-07, + "y": 270.0000915527344, + "z": -9.120484492086689e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.5747363567352295, + "objectType": "Toaster", + "objectId": "Toaster|surface|2|6", + "assetId": "Toaster_19", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.676313400268555, + 1.0108397006988525, + 10.605884552001953 + ], + [ + 12.676313400268555, + 1.0108397006988525, + 10.374317169189453 + ], + [ + 12.676313400268555, + 0.7813866138458252, + 10.605884552001953 + ], + [ + 12.676313400268555, + 0.7813866138458252, + 10.374317169189453 + ], + [ + 12.219575881958008, + 1.0108397006988525, + 10.605884552001953 + ], + [ + 12.219575881958008, + 1.0108397006988525, + 10.374317169189453 + ], + [ + 12.219575881958008, + 0.7813866138458252, + 10.605884552001953 + ], + [ + 12.219575881958008, + 0.7813866138458252, + 10.374317169189453 + ] + ], + "center": { + "x": 12.447944641113281, + "y": 0.8961131572723389, + "z": 10.490100860595703 + }, + "size": { + "x": 0.4567375183105469, + "y": 0.22945308685302734, + "z": 0.2315673828125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.219576835632324, + 0.7813865542411804, + 10.605883598327637 + ], + [ + 12.219576835632324, + 0.7813865542411804, + 10.37431812286377 + ], + [ + 12.676312446594238, + 0.7813865542411804, + 10.37431812286377 + ], + [ + 12.676313400268555, + 0.7813865542411804, + 10.605883598327637 + ], + [ + 12.219576835632324, + 1.010839581489563, + 10.605883598327637 + ], + [ + 12.219576835632324, + 1.010839581489563, + 10.37431812286377 + ], + [ + 12.676312446594238, + 1.010839581489563, + 10.37431812286377 + ], + [ + 12.676313400268555, + 1.010839581489563, + 10.605883598327637 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|4", + "object_info": { + "name": "Chair|2|1|4", + "position": { + "x": 12.101659774780273, + "y": 0.0020568668842315674, + "z": 10.914847373962402 + }, + "rotation": { + "x": -0.0, + "y": 75.39482116699219, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 2.310281276702881, + "objectType": "Chair", + "objectId": "Chair|2|1|4", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.407512664794922, + 0.898586094379425, + 11.189647674560547 + ], + [ + 12.407512664794922, + 0.898586094379425, + 10.62446403503418 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 12.407512664794922, + -1.704692840576172e-05, + 10.62446403503418 + ], + [ + 11.798370361328125, + 0.898586094379425, + 11.189647674560547 + ], + [ + 11.798370361328125, + 0.898586094379425, + 10.62446403503418 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 11.189647674560547 + ], + [ + 11.798370361328125, + -1.704692840576172e-05, + 10.62446403503418 + ] + ], + "center": { + "x": 12.102941513061523, + "y": 0.44928452372550964, + "z": 10.907055854797363 + }, + "size": { + "x": 0.6091423034667969, + "y": 0.8986031413078308, + "z": 0.5651836395263672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.41020679473877, + -1.6897916793823242e-05, + 10.753159523010254 + ], + [ + 12.292258262634277, + -1.6897916793823242e-05, + 11.205802917480469 + ], + [ + 11.797188758850098, + -1.6897916793823242e-05, + 11.076799392700195 + ], + [ + 11.91513729095459, + -1.6897916793823242e-05, + 10.62415599822998 + ], + [ + 12.41020679473877, + 0.8985857963562012, + 10.753159523010254 + ], + [ + 12.292258262634277, + 0.8985857963562012, + 11.205802917480469 + ], + [ + 11.797188758850098, + 0.8985857963562012, + 11.076799392700195 + ], + [ + 11.91513729095459, + 0.8985857963562012, + 10.62415599822998 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 12.7034912109375, + "y": 0.0020568668842315674, + "z": 9.442480087280273 + }, + "rotation": { + "x": 0.0, + "y": 351.9521484375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.3740320205688477, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.970809936523438, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.970809936523438, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.159706115722656 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.159706115722656 + ] + ], + "center": { + "x": 12.711771965026855, + "y": 0.44928452372550964, + "z": 9.444377899169922 + }, + "size": { + "x": 0.5180759429931641, + "y": 0.8986034393310547, + "z": 0.5693435668945312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.899356842041016, + -1.6897916793823242e-05, + 9.730544090270996 + ], + [ + 12.43620491027832, + -1.6897916793823242e-05, + 9.665058135986328 + ], + [ + 12.507828712463379, + -1.6897916793823242e-05, + 9.158495903015137 + ], + [ + 12.970980644226074, + -1.6897916793823242e-05, + 9.223981857299805 + ], + [ + 12.899356842041016, + 0.8985857963562012, + 9.730544090270996 + ], + [ + 12.43620491027832, + 0.8985857963562012, + 9.665058135986328 + ], + [ + 12.507828712463379, + 0.8985857963562012, + 9.158495903015137 + ], + [ + 12.970980644226074, + 0.8985857963562012, + 9.223981857299805 + ] + ] + } + } + }, + { + "objectId": "Fridge|2|2", + "object_info": { + "name": "Fridge|2|2", + "position": { + "x": 15.726710319519043, + "y": 0.006646990776062012, + "z": 17.818565368652344 + }, + "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": [ + "Egg|surface|2|21", + "Egg|surface|2|22", + "Tomato|surface|2|20", + "Potato|surface|2|15" + ], + "distance": 8.760201454162598, + "objectType": "Fridge", + "objectId": "Fridge|2|2", + "assetId": "Fridge_14", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 16.16699981689453, + 1.527637243270874, + 18.19099998474121 + ], + [ + 16.16699981689453, + 1.527637243270874, + 17.424699783325195 + ], + [ + 16.16699981689453, + -5.960464477539063e-08, + 18.19099998474121 + ], + [ + 16.16699981689453, + -5.960464477539063e-08, + 17.424699783325195 + ], + [ + 15.287870407104492, + 1.527637243270874, + 18.19099998474121 + ], + [ + 15.287870407104492, + 1.527637243270874, + 17.424699783325195 + ], + [ + 15.287870407104492, + -5.960464477539063e-08, + 18.19099998474121 + ], + [ + 15.287870407104492, + -5.960464477539063e-08, + 17.424699783325195 + ] + ], + "center": { + "x": 15.727435111999512, + "y": 0.7638185620307922, + "z": 17.807849884033203 + }, + "size": { + "x": 0.8791294097900391, + "y": 1.527637243270874, + "z": 0.7663002014160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|6", + "object_info": { + "name": "Painting|2|6", + "position": { + "x": 16.18700408935547, + "y": 1.6749447584152222, + "z": 12.188347816467285 + }, + "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": 6.305434703826904, + "objectType": "Painting", + "objectId": "Painting|2|6", + "assetId": "Wall_Decor_Photo_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 16.187000274658203, + 1.9578548669815063, + 12.623197555541992 + ], + [ + 16.187000274658203, + 1.9578548669815063, + 11.753498077392578 + ], + [ + 16.187000274658203, + 1.392034649848938, + 12.623197555541992 + ], + [ + 16.187000274658203, + 1.392034649848938, + 11.753498077392578 + ], + [ + 16.155258178710938, + 1.9578548669815063, + 12.623197555541992 + ], + [ + 16.155258178710938, + 1.9578548669815063, + 11.753498077392578 + ], + [ + 16.155258178710938, + 1.392034649848938, + 12.623197555541992 + ], + [ + 16.155258178710938, + 1.392034649848938, + 11.753498077392578 + ] + ], + "center": { + "x": 16.17112922668457, + "y": 1.6749447584152222, + "z": 12.188347816467285 + }, + "size": { + "x": 0.031742095947265625, + "y": 0.5658202171325684, + "z": 0.8696994781494141 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Vase|surface|2|18", + "object_info": { + "name": "Vase|surface|2|18", + "position": { + "x": 12.45712947845459, + "y": 0.7805110812187195, + "z": 9.825257301330566 + }, + "rotation": { + "x": 0.01683419942855835, + "y": 270.0025329589844, + "z": 0.00887954793870449 + }, + "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": 2.842867374420166, + "objectType": "Vase", + "objectId": "Vase|surface|2|18", + "assetId": "Vase_Open_3", + "parentReceptacles": [ + "DiningTable|2|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.551713943481445, + 1.0254685878753662, + 9.919853210449219 + ], + [ + 12.551713943481445, + 1.0254685878753662, + 9.730623245239258 + ], + [ + 12.551713943481445, + 0.7813770771026611, + 9.919853210449219 + ], + [ + 12.551713943481445, + 0.7813770771026611, + 9.730623245239258 + ], + [ + 12.362472534179688, + 1.0254685878753662, + 9.919853210449219 + ], + [ + 12.362472534179688, + 1.0254685878753662, + 9.730623245239258 + ], + [ + 12.362472534179688, + 0.7813770771026611, + 9.919853210449219 + ], + [ + 12.362472534179688, + 0.7813770771026611, + 9.730623245239258 + ] + ], + "center": { + "x": 12.457093238830566, + "y": 0.9034228324890137, + "z": 9.825238227844238 + }, + "size": { + "x": 0.1892414093017578, + "y": 0.24409151077270508, + "z": 0.18922996520996094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.362526893615723, + 0.7813833951950073, + 9.919867515563965 + ], + [ + 12.362518310546875, + 0.7813540697097778, + 9.7306547164917 + ], + [ + 12.55173110961914, + 0.7814096212387085, + 9.730646133422852 + ], + [ + 12.551739692687988, + 0.781438946723938, + 9.919858932495117 + ], + [ + 12.362455368041992, + 1.025429368019104, + 9.919830322265625 + ], + [ + 12.362446784973145, + 1.0254000425338745, + 9.73061752319336 + ], + [ + 12.55165958404541, + 1.0254557132720947, + 9.730608940124512 + ], + [ + 12.551668167114258, + 1.0254850387573242, + 9.919821739196777 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|5", + "object_info": { + "name": "Chair|2|1|5", + "position": { + "x": 13.305135726928711, + "y": 0.0020568668842315674, + "z": 10.88064956665039 + }, + "rotation": { + "x": 0.0, + "y": 296.724853515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.4450602531433105, + "objectType": "Chair", + "objectId": "Chair|2|1|5", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.636077880859375, + 0.8985862135887146, + 11.196287155151367 + ], + [ + 13.636077880859375, + 0.8985862135887146, + 10.558515548706055 + ], + [ + 13.636077880859375, + -1.6987323760986328e-05, + 11.196287155151367 + ], + [ + 13.636077880859375, + -1.6987323760986328e-05, + 10.558515548706055 + ], + [ + 12.977371215820312, + 0.8985862135887146, + 11.196287155151367 + ], + [ + 12.977371215820312, + 0.8985862135887146, + 10.558515548706055 + ], + [ + 12.977371215820312, + -1.6987323760986328e-05, + 11.196287155151367 + ], + [ + 12.977371215820312, + -1.6987323760986328e-05, + 10.558515548706055 + ] + ], + "center": { + "x": 13.306724548339844, + "y": 0.4492846131324768, + "z": 10.877401351928711 + }, + "size": { + "x": 0.6587066650390625, + "y": 0.8986032009124756, + "z": 0.6377716064453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 13.180219650268555, + -1.6897916793823242e-05, + 11.205826759338379 + ], + [ + 12.969865798950195, + -1.6897916793823242e-05, + 10.788036346435547 + ], + [ + 13.4268159866333, + -1.6897916793823242e-05, + 10.557965278625488 + ], + [ + 13.63716983795166, + -1.6897916793823242e-05, + 10.975756645202637 + ], + [ + 13.180219650268555, + 0.8985857963562012, + 11.205826759338379 + ], + [ + 12.969865798950195, + 0.8985857963562012, + 10.788036346435547 + ], + [ + 13.4268159866333, + 0.8985857963562012, + 10.557965278625488 + ], + [ + 13.63716983795166, + 0.8985857963562012, + 10.975756645202637 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.0, + "y": 0.9009997844696045, + "z": 10.899999618530273 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 1.530945155536756e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 10.0, + "y": 1.5759997367858887, + "z": 10.899999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|2|1|2", + "Painting|2|5" + ], + "different_object": [ + "door|1|2", + "Knife|surface|2|16", + "DiningTable|2|1|0", + "Chair|2|1|4", + "Chair|2|1|3", + "Painting|2|6", + "Toaster|surface|2|6", + "Plate|surface|2|14", + "Apple|surface|2|10", + "Fridge|2|2", + "Chair|2|1|5", + "Painting|2|7", + "GarbageCan|2|3", + "Chair|2|1|1", + "Vase|surface|2|18" + ] +} \ No newline at end of file diff --git a/train/train1243/3/1_depth_npy.npy b/train/train1243/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9281e9f58b20cd548235b3bc021cb822632ed67a --- /dev/null +++ b/train/train1243/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:292f1922ec838336e3179bdc082a0dd5f0870a4d8596fb9470efd8475ea77873 +size 3145856 diff --git a/train/train1243/3/1_semantic_sensor_npy.npy b/train/train1243/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8417db5235862539fcfda1d3767104b97ebcb319 --- /dev/null +++ b/train/train1243/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11791d22b94ef95d6b3bac63bbabe5d538ee546da2a4bf863b47272dfb391a08 +size 2359424 diff --git a/train/train1243/3/depth_0.png b/train/train1243/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..830a01c7bd32a2315ed147baf4aa60b718e1c034 Binary files /dev/null and b/train/train1243/3/depth_0.png differ diff --git a/train/train1243/3/depth_1.png b/train/train1243/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..88ecb171f1aa77a8d87fdc77ec1e43283afca5b3 Binary files /dev/null and b/train/train1243/3/depth_1.png differ diff --git a/train/train1243/3/mask_questions.jsonl b/train/train1243/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ea88823ea9e826c3a69385d9ba32fbf89386f95 --- /dev/null +++ b/train/train1243/3/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 4839, "folder_dir": "train1243/3", "pair_name": "0-1:Painting|2|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. Sofa\nB. Chair\nC. Painting\nD. Bed", "answer": "C", "object_name": "Painting", "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/rgb_1.png", "mask_image": "train1243/3/rgb_1_mask_Painting|2|5.png", "options": ["Sofa", "Chair", "Painting", "Bed"]} +{"id": 4840, "folder_dir": "train1243/3", "pair_name": "1-0:Painting|2|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. Toaster\nB. Painting\nC. GarbageCan\nD. Chair", "answer": "B", "object_name": "Painting", "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/rgb_0.png", "mask_image": "train1243/3/rgb_0_mask_Painting|2|5.png", "options": ["Toaster", "Painting", "GarbageCan", "Chair"]} diff --git a/train/train1243/3/questions_direction.jsonl b/train/train1243/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..615a491e3ed5897ca1fcd9bd853a5fb72d1a5da9 --- /dev/null +++ b/train/train1243/3/questions_direction.jsonl @@ -0,0 +1,30 @@ +{"id": 8153, "folder_dir": "train1243/3", "pair_name": "TVStand-Knife", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of Knife 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": "TVStand", "tgt_object": "Knife", "src_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "tgt_com": {"x": 12.425378799438477, "y": 0.7883152961730957, "z": 10.677766799926758}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8154, "folder_dir": "train1243/3", "pair_name": "TVStand-Apple", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of Apple 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": "TVStand", "tgt_object": "Apple", "src_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "tgt_com": {"x": 12.826837539672852, "y": 0.8521673679351807, "z": 10.268488883972168}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8155, "folder_dir": "train1243/3", "pair_name": "TVStand-Plate", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of Plate 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": "TVStand", "tgt_object": "Plate", "src_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "tgt_com": {"x": 12.457733154296875, "y": 0.7927265763282776, "z": 10.268489837646484}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8156, "folder_dir": "train1243/3", "pair_name": "TVStand-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of Toaster 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": "TVStand", "tgt_object": "Toaster", "src_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "tgt_com": {"x": 12.447944641113281, "y": 0.8961131572723389, "z": 10.490100860595703}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8157, "folder_dir": "train1243/3", "pair_name": "TVStand-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. 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": "D", "src_object": "TVStand", "tgt_object": "Fridge", "src_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "tgt_com": {"x": 15.727435111999512, "y": 0.7638185620307922, "z": 17.807849884033203}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8158, "folder_dir": "train1243/3", "pair_name": "TVStand-Vase", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of Vase 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": "TVStand", "tgt_object": "Vase", "src_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "tgt_com": {"x": 12.457093238830566, "y": 0.9034228324890137, "z": 9.825238227844238}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8159, "folder_dir": "train1243/3", "pair_name": "Statue-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. 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": "Statue", "tgt_object": "GarbageCan", "src_com": {"x": 9.806731224060059, "y": 0.8309639692306519, "z": 4.783347129821777}, "tgt_com": {"x": 15.958240509033203, "y": 0.286105751991272, "z": 13.003549575805664}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8160, "folder_dir": "train1243/3", "pair_name": "Statue-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. 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": "Statue", "tgt_object": "Fridge", "src_com": {"x": 9.806731224060059, "y": 0.8309639692306519, "z": 4.783347129821777}, "tgt_com": {"x": 15.727435111999512, "y": 0.7638185620307922, "z": 17.807849884033203}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8161, "folder_dir": "train1243/3", "pair_name": "Statue-Vase", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. Where is the centroid position of Vase 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": "Statue", "tgt_object": "Vase", "src_com": {"x": 9.806731224060059, "y": 0.8309639692306519, "z": 4.783347129821777}, "tgt_com": {"x": 12.457093238830566, "y": 0.9034228324890137, "z": 9.825238227844238}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8162, "folder_dir": "train1243/3", "pair_name": "Sofa-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. 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": "Sofa", "tgt_object": "GarbageCan", "src_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "tgt_com": {"x": 15.958240509033203, "y": 0.286105751991272, "z": 13.003549575805664}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8163, "folder_dir": "train1243/3", "pair_name": "Sofa-Knife", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Knife 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": "Sofa", "tgt_object": "Knife", "src_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "tgt_com": {"x": 12.425378799438477, "y": 0.7883152961730957, "z": 10.677766799926758}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8164, "folder_dir": "train1243/3", "pair_name": "Sofa-Apple", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Apple 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": "Sofa", "tgt_object": "Apple", "src_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "tgt_com": {"x": 12.826837539672852, "y": 0.8521673679351807, "z": 10.268488883972168}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8165, "folder_dir": "train1243/3", "pair_name": "Sofa-Plate", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Plate 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": "Sofa", "tgt_object": "Plate", "src_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "tgt_com": {"x": 12.457733154296875, "y": 0.7927265763282776, "z": 10.268489837646484}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8166, "folder_dir": "train1243/3", "pair_name": "Sofa-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Toaster 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": "Sofa", "tgt_object": "Toaster", "src_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "tgt_com": {"x": 12.447944641113281, "y": 0.8961131572723389, "z": 10.490100860595703}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8167, "folder_dir": "train1243/3", "pair_name": "Sofa-Vase", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Vase 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": "Sofa", "tgt_object": "Vase", "src_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "tgt_com": {"x": 12.457093238830566, "y": 0.9034228324890137, "z": 9.825238227844238}, "agent_pos": {"x": 10.100000381469727, "y": 1.5759997367858887, "z": 11.0}, "image_1": "train1243/3/rgb_0.png", "image_2": "train1243/3/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": 8168, "folder_dir": "train1243/3", "pair_name": "GarbageCan-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Statue 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": "Statue", "src_com": {"x": 15.958240509033203, "y": 0.286105751991272, "z": 13.003549575805664}, "tgt_com": {"x": 9.806731224060059, "y": 0.8309639692306519, "z": 4.783347129821777}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8169, "folder_dir": "train1243/3", "pair_name": "GarbageCan-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Sofa 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": "Sofa", "src_com": {"x": 15.958240509033203, "y": 0.286105751991272, "z": 13.003549575805664}, "tgt_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8170, "folder_dir": "train1243/3", "pair_name": "Knife-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Knife. Where is the centroid position of TVStand 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": "Knife", "tgt_object": "TVStand", "src_com": {"x": 12.425378799438477, "y": 0.7883152961730957, "z": 10.677766799926758}, "tgt_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8171, "folder_dir": "train1243/3", "pair_name": "Knife-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Knife. Where is the centroid position of Sofa 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": "Knife", "tgt_object": "Sofa", "src_com": {"x": 12.425378799438477, "y": 0.7883152961730957, "z": 10.677766799926758}, "tgt_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8172, "folder_dir": "train1243/3", "pair_name": "Apple-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Apple. Where is the centroid position of TVStand 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": "Apple", "tgt_object": "TVStand", "src_com": {"x": 12.826837539672852, "y": 0.8521673679351807, "z": 10.268488883972168}, "tgt_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8173, "folder_dir": "train1243/3", "pair_name": "Apple-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Apple. Where is the centroid position of Sofa 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": "Apple", "tgt_object": "Sofa", "src_com": {"x": 12.826837539672852, "y": 0.8521673679351807, "z": 10.268488883972168}, "tgt_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8174, "folder_dir": "train1243/3", "pair_name": "Plate-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of TVStand 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": "Plate", "tgt_object": "TVStand", "src_com": {"x": 12.457733154296875, "y": 0.7927265763282776, "z": 10.268489837646484}, "tgt_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8175, "folder_dir": "train1243/3", "pair_name": "Plate-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of Sofa 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": "Plate", "tgt_object": "Sofa", "src_com": {"x": 12.457733154296875, "y": 0.7927265763282776, "z": 10.268489837646484}, "tgt_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8176, "folder_dir": "train1243/3", "pair_name": "Toaster-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of TVStand 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": "Toaster", "tgt_object": "TVStand", "src_com": {"x": 12.447944641113281, "y": 0.8961131572723389, "z": 10.490100860595703}, "tgt_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8177, "folder_dir": "train1243/3", "pair_name": "Toaster-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Sofa 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": "Toaster", "tgt_object": "Sofa", "src_com": {"x": 12.447944641113281, "y": 0.8961131572723389, "z": 10.490100860595703}, "tgt_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8178, "folder_dir": "train1243/3", "pair_name": "Fridge-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. Where is the centroid position of TVStand 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": "Fridge", "tgt_object": "TVStand", "src_com": {"x": 15.727435111999512, "y": 0.7638185620307922, "z": 17.807849884033203}, "tgt_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8179, "folder_dir": "train1243/3", "pair_name": "Fridge-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. Where is the centroid position of Statue 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": "Statue", "src_com": {"x": 15.727435111999512, "y": 0.7638185620307922, "z": 17.807849884033203}, "tgt_com": {"x": 9.806731224060059, "y": 0.8309639692306519, "z": 4.783347129821777}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8180, "folder_dir": "train1243/3", "pair_name": "Vase-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Vase. Where is the centroid position of TVStand 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": "Vase", "tgt_object": "TVStand", "src_com": {"x": 12.457093238830566, "y": 0.9034228324890137, "z": 9.825238227844238}, "tgt_com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8181, "folder_dir": "train1243/3", "pair_name": "Vase-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Vase. Where is the centroid position of Statue 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": "Vase", "tgt_object": "Statue", "src_com": {"x": 12.457093238830566, "y": 0.9034228324890137, "z": 9.825238227844238}, "tgt_com": {"x": 9.806731224060059, "y": 0.8309639692306519, "z": 4.783347129821777}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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": 8182, "folder_dir": "train1243/3", "pair_name": "Vase-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Vase. Where is the centroid position of Sofa 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": "Vase", "tgt_object": "Sofa", "src_com": {"x": 12.457093238830566, "y": 0.9034228324890137, "z": 9.825238227844238}, "tgt_com": {"x": 4.324062824249268, "y": 0.454947292804718, "z": 4.537222862243652}, "agent_pos": {"x": 10.0, "y": 1.5759997367858887, "z": 10.899999618530273}, "image_1": "train1243/3/rgb_1.png", "image_2": "train1243/3/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/train1243/3/rgb_0.png b/train/train1243/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c51758a42b7d0779c1ec43d03696e6f9adec7e51 --- /dev/null +++ b/train/train1243/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d19dbfaaf431f53d225d4e584a2caa6bb86caf9376a939e7d9cb5d1594a66f9 +size 939451 diff --git a/train/train1243/3/rgb_0_mask_Painting|2|5.png b/train/train1243/3/rgb_0_mask_Painting|2|5.png new file mode 100644 index 0000000000000000000000000000000000000000..6ea7481162647d812700c78c1f59e194706b861a --- /dev/null +++ b/train/train1243/3/rgb_0_mask_Painting|2|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8cce55a9f7be9d85a3c63abc1ecf41ce77f85215aa04a9cd4cc49986019db8f +size 832721 diff --git a/train/train1243/3/rgb_1.png b/train/train1243/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..505b00ab9d30c94182ca2d9d8bf59068177ae9de --- /dev/null +++ b/train/train1243/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e785a0e643b1224b28d14012d9fdcb514de9d361ac0f85c9d13e4adec59cfe4c +size 1165295 diff --git a/train/train1243/3/rgb_1_mask_Painting|2|5.png b/train/train1243/3/rgb_1_mask_Painting|2|5.png new file mode 100644 index 0000000000000000000000000000000000000000..13e172a0f5eb35439188b54dd335dfceea3cc05e --- /dev/null +++ b/train/train1243/3/rgb_1_mask_Painting|2|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5f5f3a82b6ac6839f9a1588768421e3ce9d45b6dfc6bbc17aa0519b23a7ec1a +size 1044431 diff --git a/train/train1243/3/semantic_0.png b/train/train1243/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..672ee9ac4051e39eaf1f8d749a83ba5593563060 Binary files /dev/null and b/train/train1243/3/semantic_0.png differ diff --git a/train/train1243/3/semantic_1.png b/train/train1243/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5ec2c6f4c35bd7ca07c89315b34f0d252abe8ea0 Binary files /dev/null and b/train/train1243/3/semantic_1.png differ diff --git a/train/train1243/4/0.json b/train/train1243/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..215e83b7a009aceeff3275f4f4c1977053bdec86 --- /dev/null +++ b/train/train1243/4/0.json @@ -0,0 +1,1790 @@ +{ + "object": [ + { + "objectId": "RemoteControl|surface|7|60", + "object_info": { + "name": "RemoteControl|surface|7|60", + "position": { + "x": 9.665549278259277, + "y": 0.7598897218704224, + "z": 4.454894065856934 + }, + "rotation": { + "x": 359.9889221191406, + "y": 270.00421142578125, + "z": -0.0019428046653047204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 6.804794788360596, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|7|60", + "assetId": "Remote_1", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.773747444152832, + 0.7768520712852478, + 4.488913059234619 + ], + [ + 9.773747444152832, + 0.7768520712852478, + 4.42087984085083 + ], + [ + 9.773747444152832, + 0.7581748366355896, + 4.488913059234619 + ], + [ + 9.773747444152832, + 0.7581748366355896, + 4.42087984085083 + ], + [ + 9.55814266204834, + 0.7768520712852478, + 4.488913059234619 + ], + [ + 9.55814266204834, + 0.7768520712852478, + 4.42087984085083 + ], + [ + 9.55814266204834, + 0.7581748366355896, + 4.488913059234619 + ], + [ + 9.55814266204834, + 0.7581748366355896, + 4.42087984085083 + ] + ], + "center": { + "x": 9.665945053100586, + "y": 0.7675134539604187, + "z": 4.454896450042725 + }, + "size": { + "x": 0.2156047821044922, + "y": 0.018677234649658203, + "z": 0.06803321838378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.558146476745605, + 0.7582055330276489, + 4.488912582397461 + ], + [ + 9.558141708374023, + 0.7582078576087952, + 4.420891284942627 + ], + [ + 9.7737398147583, + 0.7581661343574524, + 4.420875549316406 + ], + [ + 9.7737455368042, + 0.7581638097763062, + 4.488896369934082 + ], + [ + 9.558150291442871, + 0.7768498063087463, + 4.488913059234619 + ], + [ + 9.558145523071289, + 0.7768521308898926, + 4.420892238616943 + ], + [ + 9.773743629455566, + 0.7768104076385498, + 4.4208760261535645 + ], + [ + 9.773748397827148, + 0.7768081426620483, + 4.488897323608398 + ] + ] + } + } + }, + { + "objectId": "Chair|7|5|2", + "object_info": { + "name": "Chair|7|5|2", + "position": { + "x": 9.999549865722656, + "y": 2.7120113372802734e-06, + "z": 5.130134105682373 + }, + "rotation": { + "x": 0.0, + "y": 193.54702758789062, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 6.185834884643555, + "objectType": "Chair", + "objectId": "Chair|7|5|2", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.322381973266602, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 10.322381973266602, + 2.6226043701171875e-06, + 4.828264236450195 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 0.7892909049987793, + 4.828264236450195 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 5.4456024169921875 + ], + [ + 9.703840255737305, + 2.6226043701171875e-06, + 4.828264236450195 + ] + ], + "center": { + "x": 10.013111114501953, + "y": 0.3946467638015747, + "z": 5.136933326721191 + }, + "size": { + "x": 0.6185417175292969, + "y": 0.7892882823944092, + "z": 0.6173381805419922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.624715805053711, + 2.682209014892578e-06, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 2.682209014892578e-06, + 4.77900505065918 + ], + [ + 10.384706497192383, + 2.682209014892578e-06, + 5.369933605194092 + ], + [ + 9.767098426818848, + 2.682209014892578e-06, + 5.518743991851807 + ], + [ + 9.624715805053711, + 0.7892910242080688, + 4.9278154373168945 + ], + [ + 10.242323875427246, + 0.7892910242080688, + 4.77900505065918 + ], + [ + 10.384706497192383, + 0.7892910242080688, + 5.369933605194092 + ], + [ + 9.767098426818848, + 0.7892910242080688, + 5.518743991851807 + ] + ] + } + } + }, + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 12.08100700378418, + "y": 1.2658374309539795, + "z": 8.102129936218262 + }, + "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": 3.7911453247070312, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.310551643371582, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 12.310551643371582, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 12.310551643371582, + 0.9623394012451172, + 8.10099983215332 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.120149612426758 + ], + [ + 11.852747917175293, + 1.5702412128448486, + 8.10099983215332 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.120149612426758 + ], + [ + 11.852747917175293, + 0.9623394012451172, + 8.10099983215332 + ] + ], + "center": { + "x": 12.081649780273438, + "y": 1.266290307044983, + "z": 8.110574722290039 + }, + "size": { + "x": 0.45780372619628906, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|3|7", + "object_info": { + "name": "door|3|7", + "position": { + "x": 9.01412296295166, + "y": -0.0022848844528198242, + "z": 6.071704387664795 + }, + "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": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.348142147064209, + "objectType": "Doorway", + "objectId": "door|3|7", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.049091339111328, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 10.049091339111328, + 2.09391450881958, + 6.020133018493652 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 10.049091339111328, + -0.002017974853515625, + 6.020133018493652 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.9878997802734375 + ], + [ + 8.995342254638672, + 2.09391450881958, + 6.020133018493652 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.9878997802734375 + ], + [ + 8.995342254638672, + -0.002017974853515625, + 6.020133018493652 + ] + ], + "center": { + "x": 9.522216796875, + "y": 1.0459482669830322, + "z": 6.504016399383545 + }, + "size": { + "x": 1.0537490844726562, + "y": 2.0959324836730957, + "z": 0.9677667617797852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|2|1|0", + "object_info": { + "name": "DiningTable|2|1|0", + "position": { + "x": 12.703603744506836, + "y": 0.0008696913719177246, + "z": 10.49010181427002 + }, + "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": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Apple|surface|2|10", + "Plate|surface|2|14", + "Vase|surface|2|18", + "Toaster|surface|2|6", + "Knife|surface|2|16" + ], + "distance": 2.9490935802459717, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 13.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 13.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ], + [ + 12.203603744506836, + 0.781386137008667, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.781386137008667, + 9.604422569274902 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.4570693969726562e-06, + 9.604422569274902 + ] + ], + "center": { + "x": 12.703603744506836, + "y": 0.390694797039032, + "z": 10.49010181427002 + }, + "size": { + "x": 1.0, + "y": 0.78138267993927, + "z": 1.7713584899902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 9.604422569274902 + ], + [ + 13.203603744506836, + 3.6954879760742188e-06, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ], + [ + 12.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 9.604422569274902 + ], + [ + 13.203603744506836, + 0.7813860774040222, + 11.375781059265137 + ] + ] + } + } + }, + { + "objectId": "Chair|2|1|2", + "object_info": { + "name": "Chair|2|1|2", + "position": { + "x": 12.7034912109375, + "y": 0.0020568668842315674, + "z": 9.442480087280273 + }, + "rotation": { + "x": 0.0, + "y": 351.9521484375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 3.3740320205688477, + "objectType": "Chair", + "objectId": "Chair|2|1|2", + "assetId": "RoboTHOR_chair_norden_gateleg", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 12.970809936523438, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.970809936523438, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.970809936523438, + -1.7195940017700195e-05, + 9.159706115722656 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.729049682617188 + ], + [ + 12.452733993530273, + 0.8985862731933594, + 9.159706115722656 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.729049682617188 + ], + [ + 12.452733993530273, + -1.7195940017700195e-05, + 9.159706115722656 + ] + ], + "center": { + "x": 12.711771965026855, + "y": 0.44928452372550964, + "z": 9.444377899169922 + }, + "size": { + "x": 0.5180759429931641, + "y": 0.8986034393310547, + "z": 0.5693435668945312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 12.899356842041016, + -1.6897916793823242e-05, + 9.730544090270996 + ], + [ + 12.43620491027832, + -1.6897916793823242e-05, + 9.665058135986328 + ], + [ + 12.507828712463379, + -1.6897916793823242e-05, + 9.158495903015137 + ], + [ + 12.970980644226074, + -1.6897916793823242e-05, + 9.223981857299805 + ], + [ + 12.899356842041016, + 0.8985857963562012, + 9.730544090270996 + ], + [ + 12.43620491027832, + 0.8985857963562012, + 9.665058135986328 + ], + [ + 12.507828712463379, + 0.8985857963562012, + 9.158495903015137 + ], + [ + 12.970980644226074, + 0.8985857963562012, + 9.223981857299805 + ] + ] + } + } + }, + { + "objectId": "Painting|3|5", + "object_info": { + "name": "Painting|3|5", + "position": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.052995681762695 + }, + "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": 8.489973068237305, + "objectType": "Painting", + "objectId": "Painting|3|5", + "assetId": "Wall_Decor_Photo_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.040939807891846, + 2.305020809173584, + 4.084741115570068 + ], + [ + 6.040939807891846, + 2.305020809173584, + 4.052999973297119 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.052999973297119 + ] + ], + "center": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.068870544433594 + }, + "size": { + "x": 0.8082046508789062, + "y": 0.5759239196777344, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Statue|surface|7|58", + "object_info": { + "name": "Statue|surface|7|58", + "position": { + "x": 9.833518981933594, + "y": 0.7549687027931213, + "z": 4.777151107788086 + }, + "rotation": { + "x": -0.00039967946941033006, + "y": 269.99945068359375, + "z": 359.9224853515625 + }, + "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": 6.476635932922363, + "objectType": "Statue", + "objectId": "Statue|surface|7|58", + "assetId": "Hand_Statue_3", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.914140701293945, + 0.903741717338562, + 4.971059799194336 + ], + [ + 9.914140701293945, + 0.903741717338562, + 4.595634460449219 + ], + [ + 9.914140701293945, + 0.7581862211227417, + 4.971059799194336 + ], + [ + 9.914140701293945, + 0.7581862211227417, + 4.595634460449219 + ], + [ + 9.699321746826172, + 0.903741717338562, + 4.971059799194336 + ], + [ + 9.699321746826172, + 0.903741717338562, + 4.595634460449219 + ], + [ + 9.699321746826172, + 0.7581862211227417, + 4.971059799194336 + ], + [ + 9.699321746826172, + 0.7581862211227417, + 4.595634460449219 + ] + ], + "center": { + "x": 9.806731224060059, + "y": 0.8309639692306519, + "z": 4.783347129821777 + }, + "size": { + "x": 0.21481895446777344, + "y": 0.1455554962158203, + "z": 0.3754253387451172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.699319839477539, + 0.758001983165741, + 4.970942974090576 + ], + [ + 9.699323654174805, + 0.7585098743438721, + 4.595474720001221 + ], + [ + 9.914141654968262, + 0.7585083842277527, + 4.5954766273498535 + ], + [ + 9.914138793945312, + 0.7580004930496216, + 4.970945358276367 + ], + [ + 9.699320793151855, + 0.9033250212669373, + 4.971139907836914 + ], + [ + 9.699324607849121, + 0.9038329124450684, + 4.5956711769104 + ], + [ + 9.914142608642578, + 0.903831422328949, + 4.595673561096191 + ], + [ + 9.914139747619629, + 0.9033235311508179, + 4.971141815185547 + ] + ] + } + } + }, + { + "objectId": "Chair|7|5|1", + "object_info": { + "name": "Chair|7|5|1", + "position": { + "x": 10.011176109313965, + "y": 2.7120113372802734e-06, + "z": 4.270720958709717 + }, + "rotation": { + "x": -0.0, + "y": 17.595090866088867, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 7.037205219268799, + "objectType": "Chair", + "objectId": "Chair|7|5|1", + "assetId": "RoboTHOR_office_chair_skruvsta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.311431884765625, + 0.7892909049987793, + 4.576460361480713 + ], + [ + 10.311431884765625, + 0.7892909049987793, + 3.9585928916931152 + ], + [ + 10.311431884765625, + 2.6226043701171875e-06, + 4.576460361480713 + ], + [ + 10.311431884765625, + 2.6226043701171875e-06, + 3.9585928916931152 + ], + [ + 9.687801361083984, + 0.7892909049987793, + 4.576460361480713 + ], + [ + 9.687801361083984, + 0.7892909049987793, + 3.9585928916931152 + ], + [ + 9.687801361083984, + 2.6226043701171875e-06, + 4.576460361480713 + ], + [ + 9.687801361083984, + 2.6226043701171875e-06, + 3.9585928916931152 + ] + ], + "center": { + "x": 9.999616622924805, + "y": 0.3946467638015747, + "z": 4.267526626586914 + }, + "size": { + "x": 0.6236305236816406, + "y": 0.7892882823944092, + "z": 0.6178674697875977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.399356842041016, + 2.682209014892578e-06, + 4.44607400894165 + ], + [ + 9.793795585632324, + 2.682209014892578e-06, + 4.6381120681762695 + ], + [ + 9.610053062438965, + 2.682209014892578e-06, + 4.058709144592285 + ], + [ + 10.215614318847656, + 2.682209014892578e-06, + 3.866671085357666 + ], + [ + 10.399356842041016, + 0.7892910242080688, + 4.44607400894165 + ], + [ + 9.793795585632324, + 0.7892910242080688, + 4.6381120681762695 + ], + [ + 9.610053062438965, + 0.7892910242080688, + 4.058709144592285 + ], + [ + 10.215614318847656, + 0.7892910242080688, + 3.866671085357666 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|5|0", + "object_info": { + "name": "DiningTable|7|5|0", + "position": { + "x": 10.002483367919922, + "y": -0.0002084672451019287, + "z": 4.701576232910156 + }, + "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|7|50", + "Watch|surface|7|68", + "Statue|surface|7|58", + "Book|surface|7|67", + "HousePlant|surface|7|52", + "RemoteControl|surface|7|60" + ], + "distance": 6.610146522521973, + "objectType": "DiningTable", + "objectId": "DiningTable|7|5|0", + "assetId": "Dining_Table_27_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.69186782836914, + 0.7581897974014282, + 5.048858165740967 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 4.352407932281494 + ], + [ + 10.69186782836914, + 0.0, + 5.048858165740967 + ], + [ + 10.69186782836914, + 0.0, + 4.352407932281494 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 5.048858165740967 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 4.352407932281494 + ], + [ + 9.317548751831055, + 0.0, + 5.048858165740967 + ], + [ + 9.317548751831055, + 0.0, + 4.352407932281494 + ] + ], + "center": { + "x": 10.004708290100098, + "y": 0.3790948987007141, + "z": 4.7006330490112305 + }, + "size": { + "x": 1.374319076538086, + "y": 0.7581897974014282, + "z": 0.6964502334594727 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.317548751831055, + 2.9802322387695312e-08, + 4.352407455444336 + ], + [ + 10.69186782836914, + 2.9802322387695312e-08, + 4.352407455444336 + ], + [ + 10.69186782836914, + 2.9802322387695312e-08, + 5.048858642578125 + ], + [ + 9.317548751831055, + 2.9802322387695312e-08, + 5.048858642578125 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 4.352407455444336 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 4.352407455444336 + ], + [ + 10.69186782836914, + 0.7581897974014282, + 5.048858642578125 + ], + [ + 9.317548751831055, + 0.7581897974014282, + 5.048858642578125 + ] + ] + } + } + }, + { + "objectId": "Book|surface|7|67", + "object_info": { + "name": "Book|surface|7|67", + "position": { + "x": 9.497576713562012, + "y": 0.7577525973320007, + "z": 4.857706069946289 + }, + "rotation": { + "x": -0.0040345573797822, + "y": 269.99945068359375, + "z": 0.08731234818696976 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 6.413608074188232, + "objectType": "Book", + "objectId": "Book|surface|7|67", + "assetId": "Book_6", + "parentReceptacles": [ + "DiningTable|7|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.615602493286133, + 0.7944754362106323, + 4.934802055358887 + ], + [ + 9.615602493286133, + 0.7944754362106323, + 4.783980369567871 + ], + [ + 9.615602493286133, + 0.7579644918441772, + 4.934802055358887 + ], + [ + 9.615602493286133, + 0.7579644918441772, + 4.783980369567871 + ], + [ + 9.379552841186523, + 0.7944754362106323, + 4.934802055358887 + ], + [ + 9.379552841186523, + 0.7944754362106323, + 4.783980369567871 + ], + [ + 9.379552841186523, + 0.7579644918441772, + 4.934802055358887 + ], + [ + 9.379552841186523, + 0.7579644918441772, + 4.783980369567871 + ] + ], + "center": { + "x": 9.497577667236328, + "y": 0.7762199640274048, + "z": 4.859391212463379 + }, + "size": { + "x": 0.23604965209960938, + "y": 0.03651094436645508, + "z": 0.15082168579101562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.37955379486084, + 0.7582077383995056, + 4.934800148010254 + ], + [ + 9.379554748535156, + 0.7579780220985413, + 4.784034252166748 + ], + [ + 9.615599632263184, + 0.7579613924026489, + 4.784036636352539 + ], + [ + 9.615598678588867, + 0.7581911683082581, + 4.934802532196045 + ], + [ + 9.379555702209473, + 0.7944782972335815, + 4.934744834899902 + ], + [ + 9.379557609558105, + 0.7942485809326172, + 4.7839789390563965 + ], + [ + 9.615602493286133, + 0.7942319512367249, + 4.7839813232421875 + ], + [ + 9.615601539611816, + 0.794461727142334, + 4.934747219085693 + ] + ] + } + } + }, + { + "objectId": "Sofa|3|2", + "object_info": { + "name": "Sofa|3|2", + "position": { + "x": 4.323193550109863, + "y": 0.014654487371444702, + "z": 4.546697616577148 + }, + "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": [], + "distance": 8.828702926635742, + "objectType": "Sofa", + "objectId": "Sofa|3|2", + "assetId": "Sofa_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 5.564852714538574, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 4.072991371154785 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 4.072991371154785 + ] + ], + "center": { + "x": 4.324062824249268, + "y": 0.454947292804718, + "z": 4.537222862243652 + }, + "size": { + "x": 2.4815797805786133, + "y": 0.9099123477935791, + "z": 0.9284629821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 4.072990894317627 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.399999618530273, + "y": 0.9009997844696045, + "z": 10.699999809265137 + }, + "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": 10.399999618530273, + "y": 1.5759997367858887, + "z": 10.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|3|5", + "Sofa|3|2" + ], + "different_object": [ + "DiningTable|2|1|0", + "DiningTable|7|5|0", + "Statue|surface|7|58", + "door|3|7", + "Book|surface|7|67", + "Chair|7|5|2", + "Chair|7|5|1", + "RemoteControl|surface|7|60", + "Chair|2|1|2", + "Painting|2|5" + ] +} \ No newline at end of file diff --git a/train/train1243/4/0_depth_npy.npy b/train/train1243/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..05a4092a469819e382b9f52a598304252bc09444 --- /dev/null +++ b/train/train1243/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12d0b9eb4b018613ffc3d100d1b6a277522f98ea5a926165d1e38cfeec05bdb6 +size 3145856 diff --git a/train/train1243/4/0_semantic_sensor_npy.npy b/train/train1243/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..34219591123a2b33ff7f25deb0e7f4882d1177d6 --- /dev/null +++ b/train/train1243/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe939f12782cbf86e045952c042cd85a430b48ac1a7fe2876c5ad16390eab992 +size 2359424 diff --git a/train/train1243/4/1.json b/train/train1243/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..57fcfa0209c5c3717546873dca38b19866c98f1b --- /dev/null +++ b/train/train1243/4/1.json @@ -0,0 +1,2519 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|3|29", + "object_info": { + "name": "Bowl|surface|3|29", + "position": { + "x": 0.6483190655708313, + "y": 0.7828593254089355, + "z": 9.955114364624023 + }, + "rotation": { + "x": 359.9939270019531, + "y": 89.99946594238281, + "z": 0.2549903392791748 + }, + "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": 9.441642761230469, + "objectType": "Bowl", + "objectId": "Bowl|surface|3|29", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.761937141418457, + 0.8713365793228149, + 10.064910888671875 + ], + [ + 0.761937141418457, + 0.8713365793228149, + 9.846681594848633 + ], + [ + 0.761937141418457, + 0.7813478708267212, + 10.064910888671875 + ], + [ + 0.761937141418457, + 0.7813478708267212, + 9.846681594848633 + ], + [ + 0.534426212310791, + 0.8713365793228149, + 10.064910888671875 + ], + [ + 0.534426212310791, + 0.8713365793228149, + 9.846681594848633 + ], + [ + 0.534426212310791, + 0.7813478708267212, + 10.064910888671875 + ], + [ + 0.534426212310791, + 0.7813478708267212, + 9.846681594848633 + ] + ], + "center": { + "x": 0.648181676864624, + "y": 0.8263422250747681, + "z": 9.955796241760254 + }, + "size": { + "x": 0.22751092910766602, + "y": 0.08998870849609375, + "z": 0.2182292938232422 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7619462013244629, + 0.7816263437271118, + 9.846315383911133 + ], + [ + 0.7619442939758301, + 0.7806551456451416, + 10.064541816711426 + ], + [ + 0.53443443775177, + 0.7806310653686523, + 10.064539909362793 + ], + [ + 0.5344363451004028, + 0.7816022634506226, + 9.8463134765625 + ], + [ + 0.7619366645812988, + 0.8720882534980774, + 9.846718788146973 + ], + [ + 0.7619346976280212, + 0.8711169958114624, + 10.06494426727295 + ], + [ + 0.5344248414039612, + 0.8710929155349731, + 10.064942359924316 + ], + [ + 0.5344268083572388, + 0.8720641136169434, + 9.846715927124023 + ] + ] + } + } + }, + { + "objectId": "Television|3|0|1", + "object_info": { + "name": "Television|3|0|1", + "position": { + "x": 0.5467158555984497, + "y": 1.177729845046997, + "z": 4.681970596313477 + }, + "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": 11.5143461227417, + "objectType": "Television", + "objectId": "Television|3|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|3|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6505399346351624, + 1.4952235221862793, + 5.181970596313477 + ], + [ + 0.6505399346351624, + 1.4952235221862793, + 4.181970596313477 + ], + [ + 0.6505399346351624, + 0.6893458366394043, + 5.181970596313477 + ], + [ + 0.6505399346351624, + 0.6893458366394043, + 4.181970596313477 + ], + [ + 0.2962813973426819, + 1.4952235221862793, + 5.181970596313477 + ], + [ + 0.2962813973426819, + 1.4952235221862793, + 4.181970596313477 + ], + [ + 0.2962813973426819, + 0.6893458366394043, + 5.181970596313477 + ], + [ + 0.2962813973426819, + 0.6893458366394043, + 4.181970596313477 + ] + ], + "center": { + "x": 0.4734106659889221, + "y": 1.0922846794128418, + "z": 4.681970596313477 + }, + "size": { + "x": 0.35425853729248047, + "y": 0.805877685546875, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6505398154258728, + 0.6893460750579834, + 4.181970596313477 + ], + [ + 0.6505399346351624, + 0.6893460750579834, + 5.181970596313477 + ], + [ + 0.2962815463542938, + 0.6893460750579834, + 5.181970596313477 + ], + [ + 0.2962814271450043, + 0.6893460750579834, + 4.181970596313477 + ], + [ + 0.6505398154258728, + 1.4952234029769897, + 4.181970596313477 + ], + [ + 0.6505399346351624, + 1.4952234029769897, + 5.181970596313477 + ], + [ + 0.2962815463542938, + 1.4952234029769897, + 5.181970596313477 + ], + [ + 0.2962814271450043, + 1.4952234029769897, + 4.181970596313477 + ] + ] + } + } + }, + { + "objectId": "Chair|3|1|2", + "object_info": { + "name": "Chair|3|1|2", + "position": { + "x": 0.8951330184936523, + "y": -0.0016570687294006348, + "z": 10.771602630615234 + }, + "rotation": { + "x": -0.0, + "y": 177.3714141845703, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 9.16200065612793, + "objectType": "Chair", + "objectId": "Chair|3|1|2", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.095914363861084, + 0.7736940383911133, + 11.020074844360352 + ], + [ + 1.095914363861084, + 0.7736940383911133, + 10.537618637084961 + ], + [ + 1.095914363861084, + -2.86102294921875e-06, + 11.020074844360352 + ], + [ + 1.095914363861084, + -2.86102294921875e-06, + 10.537618637084961 + ], + [ + 0.6943516731262207, + 0.7736940383911133, + 11.020074844360352 + ], + [ + 0.6943516731262207, + 0.7736940383911133, + 10.537618637084961 + ], + [ + 0.6943516731262207, + -2.86102294921875e-06, + 11.020074844360352 + ], + [ + 0.6943516731262207, + -2.86102294921875e-06, + 10.537618637084961 + ] + ], + "center": { + "x": 0.8951330184936523, + "y": 0.38684558868408203, + "z": 10.778846740722656 + }, + "size": { + "x": 0.4015626907348633, + "y": 0.7736968994140625, + "z": 0.4824562072753906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7150330543518066, + -2.86102294921875e-06, + 10.537619590759277 + ], + [ + 1.095914363861084, + -2.86102294921875e-06, + 10.555106163024902 + ], + [ + 1.074542760848999, + -2.86102294921875e-06, + 11.020620346069336 + ], + [ + 0.6936613321304321, + -2.86102294921875e-06, + 11.003134727478027 + ], + [ + 0.7150330543518066, + 0.7736939191818237, + 10.537619590759277 + ], + [ + 1.095914363861084, + 0.7736939191818237, + 10.555106163024902 + ], + [ + 1.074542760848999, + 0.7736939191818237, + 11.020620346069336 + ], + [ + 0.6936613321304321, + 0.7736939191818237, + 11.003134727478027 + ] + ] + } + } + }, + { + "objectId": "Painting|3|6", + "object_info": { + "name": "Painting|3|6", + "position": { + "x": 0.00355725921690464, + "y": 1.774817943572998, + "z": 10.269536972045898 + }, + "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": 10.082347869873047, + "objectType": "Painting", + "objectId": "Painting|3|6", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.024349283427000046, + 2.08017635345459, + 10.673090934753418 + ], + [ + 0.024349283427000046, + 2.08017635345459, + 9.86740779876709 + ], + [ + 0.024349283427000046, + 1.467041015625, + 10.673090934753418 + ], + [ + 0.024349283427000046, + 1.467041015625, + 9.86740779876709 + ], + [ + 0.004999972879886627, + 2.08017635345459, + 10.673090934753418 + ], + [ + 0.004999972879886627, + 2.08017635345459, + 9.86740779876709 + ], + [ + 0.004999972879886627, + 1.467041015625, + 10.673090934753418 + ], + [ + 0.004999972879886627, + 1.467041015625, + 9.86740779876709 + ] + ], + "center": { + "x": 0.014674628153443336, + "y": 1.773608684539795, + "z": 10.270249366760254 + }, + "size": { + "x": 0.01934931054711342, + "y": 0.6131353378295898, + "z": 0.8056831359863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|3|0|0", + "object_info": { + "name": "TVStand|3|0|0", + "position": { + "x": 0.4734106659889221, + "y": 3.3974647521972656e-05, + "z": 4.681970596313477 + }, + "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": [ + "Wood" + ], + "receptacleObjectIds": [ + "Pencil|surface|3|27", + "Television|3|0|1", + "CellPhone|surface|3|28" + ], + "distance": 11.606319427490234, + "objectType": "TVStand", + "objectId": "TVStand|3|0|0", + "assetId": "TV_Stand_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9218211770057678, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.9218211770057678, + 1.1920928955078125e-07, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 0.689346194267273, + 4.072999954223633 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 5.29094123840332 + ], + [ + 0.025000154972076416, + 1.1920928955078125e-07, + 4.072999954223633 + ] + ], + "center": { + "x": 0.4734106659889221, + "y": 0.34467315673828125, + "z": 4.681970596313477 + }, + "size": { + "x": 0.8968210220336914, + "y": 0.6893460750579834, + "z": 1.2179412841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9218213558197021, + 0.0, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.0, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.0, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.0, + 4.072999954223633 + ], + [ + 0.9218213558197021, + 0.689346194267273, + 4.072999477386475 + ], + [ + 0.9218214750289917, + 0.689346194267273, + 5.29094123840332 + ], + [ + 0.025000005960464478, + 0.689346194267273, + 5.2909417152404785 + ], + [ + 0.024999886751174927, + 0.689346194267273, + 4.072999954223633 + ] + ] + } + } + }, + { + "objectId": "HousePlant|surface|3|23", + "object_info": { + "name": "HousePlant|surface|3|23", + "position": { + "x": 0.6483194828033447, + "y": 0.7837322354316711, + "z": 9.733431816101074 + }, + "rotation": { + "x": -0.00024413458595518023, + "y": 89.9995346069336, + "z": 8.148347114911303e-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": 9.474579811096191, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|3|23", + "assetId": "Houseplant_20", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7499165534973145, + 1.4261322021484375, + 9.843931198120117 + ], + [ + 0.7499165534973145, + 1.4261322021484375, + 9.643632888793945 + ], + [ + 0.7499165534973145, + 0.7813858985900879, + 9.843931198120117 + ], + [ + 0.7499165534973145, + 0.7813858985900879, + 9.643632888793945 + ], + [ + 0.5594165325164795, + 1.4261322021484375, + 9.843931198120117 + ], + [ + 0.5594165325164795, + 1.4261322021484375, + 9.643632888793945 + ], + [ + 0.5594165325164795, + 0.7813858985900879, + 9.843931198120117 + ], + [ + 0.5594165325164795, + 0.7813858985900879, + 9.643632888793945 + ] + ], + "center": { + "x": 0.654666543006897, + "y": 1.1037590503692627, + "z": 9.743782043457031 + }, + "size": { + "x": 0.19050008058547974, + "y": 0.6447463035583496, + "z": 0.20029830932617188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7499202489852905, + 0.7813864350318909, + 9.643632888793945 + ], + [ + 0.7499185800552368, + 0.781386137008667, + 9.84393310546875 + ], + [ + 0.5594185590744019, + 0.7813853621482849, + 9.843931198120117 + ], + [ + 0.5594202280044556, + 0.781385600566864, + 9.643630981445312 + ], + [ + 0.7499175071716309, + 1.4261327981948853, + 9.643633842468262 + ], + [ + 0.7499158382415771, + 1.4261324405670166, + 9.84393310546875 + ], + [ + 0.5594158172607422, + 1.4261317253112793, + 9.843932151794434 + ], + [ + 0.5594174861907959, + 1.4261319637298584, + 9.643631935119629 + ] + ] + } + } + }, + { + "objectId": "DogBed|3|4", + "object_info": { + "name": "DogBed|3|4", + "position": { + "x": 4.013127326965332, + "y": 0.005317606031894684, + "z": 9.063146591186523 + }, + "rotation": { + "x": -0.0006522137555293739, + "y": 89.99972534179688, + "z": -0.00015052949311211705 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.436398029327393, + "objectType": "DogBed", + "objectId": "DogBed|3|4", + "assetId": "Dog_Bed_1_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.600808143615723, + 0.17533546686172485, + 9.651851654052734 + ], + [ + 4.600808143615723, + 0.17533546686172485, + 8.475467681884766 + ], + [ + 4.600808143615723, + 9.219348430633545e-05, + 9.651851654052734 + ], + [ + 4.600808143615723, + 9.219348430633545e-05, + 8.475467681884766 + ], + [ + 3.4244184494018555, + 0.17533546686172485, + 9.651851654052734 + ], + [ + 3.4244184494018555, + 0.17533546686172485, + 8.475467681884766 + ], + [ + 3.4244184494018555, + 9.219348430633545e-05, + 9.651851654052734 + ], + [ + 3.4244184494018555, + 9.219348430633545e-05, + 8.475467681884766 + ] + ], + "center": { + "x": 4.012613296508789, + "y": 0.0877138301730156, + "z": 9.06365966796875 + }, + "size": { + "x": 1.1763896942138672, + "y": 0.17524327337741852, + "z": 1.1763839721679688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.6008124351501465, + 0.00010118354111909866, + 8.475467681884766 + ], + [ + 4.600807189941406, + 0.00010427413508296013, + 9.65185832977295 + ], + [ + 3.4244167804718018, + 9.088311344385147e-05, + 9.65185260772705 + ], + [ + 3.4244225025177, + 8.779251947999e-05, + 8.475461959838867 + ], + [ + 4.600810527801514, + 0.17533430457115173, + 8.47546672821045 + ], + [ + 4.600805282592773, + 0.17533740401268005, + 9.651857376098633 + ], + [ + 3.424414873123169, + 0.1753239929676056, + 9.65185260772705 + ], + [ + 3.4244203567504883, + 0.17532089352607727, + 8.47546100616455 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|3|26", + "object_info": { + "name": "CellPhone|surface|3|26", + "position": { + "x": 1.2644916772842407, + "y": 0.7821366786956787, + "z": 9.733429908752441 + }, + "rotation": { + "x": 6.607647083001211e-05, + "y": 90.0000228881836, + "z": -0.0011862698011100292 + }, + "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": 8.866972923278809, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|3|26", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3553184270858765, + 0.7916063070297241, + 9.777595520019531 + ], + [ + 1.3553184270858765, + 0.7916063070297241, + 9.689264297485352 + ], + [ + 1.3553184270858765, + 0.781385064125061, + 9.777595520019531 + ], + [ + 1.3553184270858765, + 0.781385064125061, + 9.689264297485352 + ], + [ + 1.1752251386642456, + 0.7916063070297241, + 9.777595520019531 + ], + [ + 1.1752251386642456, + 0.7916063070297241, + 9.689264297485352 + ], + [ + 1.1752251386642456, + 0.781385064125061, + 9.777595520019531 + ], + [ + 1.1752251386642456, + 0.781385064125061, + 9.689264297485352 + ] + ], + "center": { + "x": 1.265271782875061, + "y": 0.7864956855773926, + "z": 9.733429908752441 + }, + "size": { + "x": 0.18009328842163086, + "y": 0.010221242904663086, + "z": 0.08833122253417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.355318307876587, + 0.781385064125061, + 9.689264297485352 + ], + [ + 1.3553184270858765, + 0.7813869118690491, + 9.777595520019531 + ], + [ + 1.1752252578735352, + 0.7813870906829834, + 9.777595520019531 + ], + [ + 1.1752251386642456, + 0.7813853025436401, + 9.689264297485352 + ], + [ + 1.355318307876587, + 0.7916042804718018, + 9.689264297485352 + ], + [ + 1.3553184270858765, + 0.7916061282157898, + 9.777595520019531 + ], + [ + 1.1752252578735352, + 0.7916063070297241, + 9.777595520019531 + ], + [ + 1.1752251386642456, + 0.7916044592857361, + 9.689264297485352 + ] + ] + } + } + }, + { + "objectId": "Painting|3|5", + "object_info": { + "name": "Painting|3|5", + "position": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.052995681762695 + }, + "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": 8.489973068237305, + "objectType": "Painting", + "objectId": "Painting|3|5", + "assetId": "Wall_Decor_Photo_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.040939807891846, + 2.305020809173584, + 4.084741115570068 + ], + [ + 6.040939807891846, + 2.305020809173584, + 4.052999973297119 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 6.040939807891846, + 1.7290968894958496, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 2.305020809173584, + 4.052999973297119 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.084741115570068 + ], + [ + 5.2327351570129395, + 1.7290968894958496, + 4.052999973297119 + ] + ], + "center": { + "x": 5.636837482452393, + "y": 2.017058849334717, + "z": 4.068870544433594 + }, + "size": { + "x": 0.8082046508789062, + "y": 0.5759239196777344, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|3|1|4", + "object_info": { + "name": "Chair|3|1|4", + "position": { + "x": 0.3021129369735718, + "y": -0.0016570687294006348, + "z": 9.254061698913574 + }, + "rotation": { + "x": -0.0, + "y": 102.94508361816406, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 9.942212104797363, + "objectType": "Chair", + "objectId": "Chair|3|1|4", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5645661354064941, + 0.7736942768096924, + 9.490368843078613 + ], + [ + 0.5645661354064941, + 0.7736942768096924, + 9.017754554748535 + ], + [ + 0.5645661354064941, + -2.9802322387695312e-06, + 9.490368843078613 + ], + [ + 0.5645661354064941, + -2.9802322387695312e-06, + 9.017754554748535 + ], + [ + 0.027660399675369263, + 0.7736942768096924, + 9.490368843078613 + ], + [ + 0.027660399675369263, + 0.7736942768096924, + 9.017754554748535 + ], + [ + 0.027660399675369263, + -2.9802322387695312e-06, + 9.490368843078613 + ], + [ + 0.027660399675369263, + -2.9802322387695312e-06, + 9.017754554748535 + ] + ], + "center": { + "x": 0.2961132824420929, + "y": 0.3868456482887268, + "z": 9.254061698913574 + }, + "size": { + "x": 0.5369057655334473, + "y": 0.7736972570419312, + "z": 0.4726142883300781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.47915250062942505, + -2.86102294921875e-06, + 9.017754554748535 + ], + [ + 0.5645662546157837, + -2.86102294921875e-06, + 9.389347076416016 + ], + [ + 0.11040489375591278, + -2.86102294921875e-06, + 9.49374008178711 + ], + [ + 0.024991095066070557, + -2.86102294921875e-06, + 9.122147560119629 + ], + [ + 0.47915250062942505, + 0.7736939191818237, + 9.017754554748535 + ], + [ + 0.5645662546157837, + 0.7736939191818237, + 9.389347076416016 + ], + [ + 0.11040489375591278, + 0.7736939191818237, + 9.49374008178711 + ], + [ + 0.024991095066070557, + 0.7736939191818237, + 9.122147560119629 + ] + ] + } + } + }, + { + "objectId": "Chair|3|1|1", + "object_info": { + "name": "Chair|3|1|1", + "position": { + "x": 0.8939499258995056, + "y": -0.0016570687294006348, + "z": 8.695219993591309 + }, + "rotation": { + "x": 0.0, + "y": 353.5942077636719, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 9.50062370300293, + "objectType": "Chair", + "objectId": "Chair|3|1|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1085573434829712, + 0.7736940383911133, + 8.940559387207031 + ], + [ + 1.1085573434829712, + 0.7736940383911133, + 8.43625259399414 + ], + [ + 1.1085573434829712, + -2.9206275939941406e-06, + 8.940559387207031 + ], + [ + 1.1085573434829712, + -2.9206275939941406e-06, + 8.43625259399414 + ], + [ + 0.6793426275253296, + 0.7736940383911133, + 8.940559387207031 + ], + [ + 0.6793426275253296, + 0.7736940383911133, + 8.43625259399414 + ], + [ + 0.6793426275253296, + -2.9206275939941406e-06, + 8.940559387207031 + ], + [ + 0.6793426275253296, + -2.9206275939941406e-06, + 8.43625259399414 + ] + ], + "center": { + "x": 0.8939499855041504, + "y": 0.38684555888175964, + "z": 8.688405990600586 + }, + "size": { + "x": 0.4292147159576416, + "y": 0.7736969590187073, + "z": 0.5043067932128906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0582447052001953, + -2.86102294921875e-06, + 8.940558433532715 + ], + [ + 0.6793426275253296, + -2.86102294921875e-06, + 8.898019790649414 + ], + [ + 0.731334388256073, + -2.86102294921875e-06, + 8.434924125671387 + ], + [ + 1.110236406326294, + -2.86102294921875e-06, + 8.477463722229004 + ], + [ + 1.0582447052001953, + 0.7736939191818237, + 8.940558433532715 + ], + [ + 0.6793426275253296, + 0.7736939191818237, + 8.898019790649414 + ], + [ + 0.731334388256073, + 0.7736939191818237, + 8.434924125671387 + ], + [ + 1.110236406326294, + 0.7736939191818237, + 8.477463722229004 + ] + ] + } + } + }, + { + "objectId": "door|3|4", + "object_info": { + "name": "door|3|4", + "position": { + "x": 3.001622200012207, + "y": -0.0005984306335449219, + "z": 14.16894817352295 + }, + "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": 7.636126518249512, + "objectType": "Doorframe", + "objectId": "door|3|4", + "assetId": "Doorframe_Double_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.0034055709838867, + 2.0993971824645996, + 14.238569259643555 + ], + [ + 3.0034055709838867, + 2.0993971824645996, + 14.097431182861328 + ], + [ + 3.0034055709838867, + -2.384185791015625e-07, + 14.238569259643555 + ], + [ + 3.0034055709838867, + -2.384185791015625e-07, + 14.097431182861328 + ], + [ + 1.0382585525512695, + 2.0993971824645996, + 14.238569259643555 + ], + [ + 1.0382585525512695, + 2.0993971824645996, + 14.097431182861328 + ], + [ + 1.0382585525512695, + -2.384185791015625e-07, + 14.238569259643555 + ], + [ + 1.0382585525512695, + -2.384185791015625e-07, + 14.097431182861328 + ] + ], + "center": { + "x": 2.020832061767578, + "y": 1.0496984720230103, + "z": 14.168000221252441 + }, + "size": { + "x": 1.9651470184326172, + "y": 2.0993974208831787, + "z": 0.14113807678222656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cart|3|3", + "object_info": { + "name": "Cart|3|3", + "position": { + "x": 5.675395488739014, + "y": 0.001794278621673584, + "z": 11.136954307556152 + }, + "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": 4.418546676635742, + "objectType": "Cart", + "objectId": "Cart|3|3", + "assetId": "Cart_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.040007591247559, + 1.2826995849609375, + 11.401283264160156 + ], + [ + 6.040007591247559, + 1.2826995849609375, + 10.861614227294922 + ], + [ + 6.040007591247559, + 5.364418029785156e-07, + 11.401283264160156 + ], + [ + 6.040007591247559, + 5.364418029785156e-07, + 10.861614227294922 + ], + [ + 5.328142166137695, + 1.2826995849609375, + 11.401283264160156 + ], + [ + 5.328142166137695, + 1.2826995849609375, + 10.861614227294922 + ], + [ + 5.328142166137695, + 5.364418029785156e-07, + 11.401283264160156 + ], + [ + 5.328142166137695, + 5.364418029785156e-07, + 10.861614227294922 + ] + ], + "center": { + "x": 5.684074878692627, + "y": 0.6413500905036926, + "z": 11.131448745727539 + }, + "size": { + "x": 0.7118654251098633, + "y": 1.2826991081237793, + "z": 0.5396690368652344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|3|1|0", + "object_info": { + "name": "DiningTable|3|1|0", + "position": { + "x": 0.894788384437561, + "y": 0.0008696913719177246, + "z": 9.733430862426758 + }, + "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": [ + "Box|surface|3|24", + "Bowl|surface|3|29", + "HousePlant|surface|3|23", + "Pen|surface|3|25", + "CellPhone|surface|3|26" + ], + "distance": 9.274432182312012, + "objectType": "DiningTable", + "objectId": "DiningTable|3|1|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3947887420654297, + 0.7813861966133118, + 10.619111061096191 + ], + [ + 1.3947887420654297, + 0.7813861966133118, + 8.847750663757324 + ], + [ + 1.3947887420654297, + 3.4570693969726562e-06, + 10.619111061096191 + ], + [ + 1.3947887420654297, + 3.4570693969726562e-06, + 8.847750663757324 + ], + [ + 0.3947880268096924, + 0.7813861966133118, + 10.619111061096191 + ], + [ + 0.3947880268096924, + 0.7813861966133118, + 8.847750663757324 + ], + [ + 0.3947880268096924, + 3.4570693969726562e-06, + 10.619111061096191 + ], + [ + 0.3947880268096924, + 3.4570693969726562e-06, + 8.847750663757324 + ] + ], + "center": { + "x": 0.894788384437561, + "y": 0.39069482684135437, + "z": 9.733430862426758 + }, + "size": { + "x": 1.0000007152557373, + "y": 0.7813827395439148, + "z": 1.7713603973388672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3947882652282715, + 3.6954879760742188e-06, + 8.84775161743164 + ], + [ + 1.3947885036468506, + 3.6954879760742188e-06, + 10.619110107421875 + ], + [ + 0.3947884440422058, + 3.6954879760742188e-06, + 10.619110107421875 + ], + [ + 0.3947882056236267, + 3.6954879760742188e-06, + 8.84775161743164 + ], + [ + 1.3947882652282715, + 0.7813860774040222, + 8.84775161743164 + ], + [ + 1.3947885036468506, + 0.7813860774040222, + 10.619110107421875 + ], + [ + 0.3947884440422058, + 0.7813860774040222, + 10.619110107421875 + ], + [ + 0.3947882056236267, + 0.7813860774040222, + 8.84775161743164 + ] + ] + } + } + }, + { + "objectId": "Box|surface|3|24", + "object_info": { + "name": "Box|surface|3|24", + "position": { + "x": 1.0180259943008423, + "y": 0.9703553915023804, + "z": 9.29020881652832 + }, + "rotation": { + "x": 0.0014381064102053642, + "y": 89.99983978271484, + "z": 0.0012738937512040138 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 9.193553924560547, + "objectType": "Box", + "objectId": "Box|surface|3|24", + "assetId": "Box_28", + "parentReceptacles": [ + "DiningTable|3|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0555094480514526, + 1.0004804134368896, + 9.381040573120117 + ], + [ + 1.0555094480514526, + 1.0004804134368896, + 9.199991226196289 + ], + [ + 1.0555094480514526, + 0.781386137008667, + 9.381040573120117 + ], + [ + 1.0555094480514526, + 0.781386137008667, + 9.199991226196289 + ], + [ + 0.814935564994812, + 1.0004804134368896, + 9.381040573120117 + ], + [ + 0.814935564994812, + 1.0004804134368896, + 9.199991226196289 + ], + [ + 0.814935564994812, + 0.781386137008667, + 9.381040573120117 + ], + [ + 0.814935564994812, + 0.781386137008667, + 9.199991226196289 + ] + ], + "center": { + "x": 0.9352225065231323, + "y": 0.8909332752227783, + "z": 9.290515899658203 + }, + "size": { + "x": 0.24057388305664062, + "y": 0.21909427642822266, + "z": 0.18104934692382812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0555063486099243, + 0.7813887596130371, + 9.199992179870605 + ], + [ + 1.0555058717727661, + 0.7813847064971924, + 9.381036758422852 + ], + [ + 0.8149348497390747, + 0.7813907861709595, + 9.381036758422852 + ], + [ + 0.8149353265762329, + 0.7813947796821594, + 9.199991226196289 + ], + [ + 1.0555119514465332, + 1.0004786252975464, + 9.199996948242188 + ], + [ + 1.0555113554000854, + 1.0004745721817017, + 9.38104248046875 + ], + [ + 0.814940333366394, + 1.0004806518554688, + 9.381041526794434 + ], + [ + 0.8149408102035522, + 1.000484585762024, + 9.199995994567871 + ] + ] + } + } + }, + { + "objectId": "Chair|3|1|3", + "object_info": { + "name": "Chair|3|1|3", + "position": { + "x": 0.30215904116630554, + "y": -0.0016570687294006348, + "z": 10.215140342712402 + }, + "rotation": { + "x": -0.0, + "y": 101.26981353759766, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 9.79458236694336, + "objectType": "Chair", + "objectId": "Chair|3|1|3", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.560545027256012, + 0.7736940383911133, + 10.446170806884766 + ], + [ + 0.560545027256012, + 0.7736940383911133, + 9.984109878540039 + ], + [ + 0.560545027256012, + -2.8312206268310547e-06, + 10.446170806884766 + ], + [ + 0.560545027256012, + -2.8312206268310547e-06, + 9.984109878540039 + ], + [ + 0.03134053945541382, + 0.7736940383911133, + 10.446170806884766 + ], + [ + 0.03134053945541382, + 0.7736940383911133, + 9.984109878540039 + ], + [ + 0.03134053945541382, + -2.8312206268310547e-06, + 10.446170806884766 + ], + [ + 0.03134053945541382, + -2.8312206268310547e-06, + 9.984109878540039 + ] + ], + "center": { + "x": 0.2959427833557129, + "y": 0.3868456184864044, + "z": 10.215140342712402 + }, + "size": { + "x": 0.5292044878005981, + "y": 0.7736968994140625, + "z": 0.46206092834472656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.48603129386901855, + -2.86102294921875e-06, + 9.984109878540039 + ], + [ + 0.5605452060699463, + -2.86102294921875e-06, + 10.358040809631348 + ], + [ + 0.10352601110935211, + -2.86102294921875e-06, + 10.449111938476562 + ], + [ + 0.02901211380958557, + -2.86102294921875e-06, + 10.075181007385254 + ], + [ + 0.48603129386901855, + 0.7736939191818237, + 9.984109878540039 + ], + [ + 0.5605452060699463, + 0.7736939191818237, + 10.358040809631348 + ], + [ + 0.10352601110935211, + 0.7736939191818237, + 10.449111938476562 + ], + [ + 0.02901211380958557, + 0.7736939191818237, + 10.075181007385254 + ] + ] + } + } + }, + { + "objectId": "Sofa|3|2", + "object_info": { + "name": "Sofa|3|2", + "position": { + "x": 4.323193550109863, + "y": 0.014654487371444702, + "z": 4.546697616577148 + }, + "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": [], + "distance": 8.828702926635742, + "objectType": "Sofa", + "objectId": "Sofa|3|2", + "assetId": "Sofa_205_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 5.564852714538574, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 5.564852714538574, + -8.881092071533203e-06, + 4.072991371154785 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 5.0014543533325195 + ], + [ + 3.083272933959961, + 0.9099034667015076, + 4.072991371154785 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 5.0014543533325195 + ], + [ + 3.083272933959961, + -8.881092071533203e-06, + 4.072991371154785 + ] + ], + "center": { + "x": 4.324062824249268, + "y": 0.454947292804718, + "z": 4.537222862243652 + }, + "size": { + "x": 2.4815797805786133, + "y": 0.9099123477935791, + "z": 0.9284629821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.564852714538574, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 5.001453399658203 + ], + [ + 3.083272695541382, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + -8.732080459594727e-06, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 5.001453399658203 + ], + [ + 3.083272695541382, + 0.909903883934021, + 4.072990894317627 + ], + [ + 5.564852714538574, + 0.909903883934021, + 4.072990894317627 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 10.5, + "y": 0.9009997844696045, + "z": 10.699999809265137 + }, + "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": 10.5, + "y": 1.5759997367858887, + "z": 10.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|3|5", + "Sofa|3|2" + ], + "different_object": [ + "Chair|3|1|4", + "Box|surface|3|24", + "door|3|4", + "Chair|3|1|2", + "Bowl|surface|3|29", + "Chair|3|1|1", + "CellPhone|surface|3|26", + "TVStand|3|0|0", + "Television|3|0|1", + "DogBed|3|4", + "Cart|3|3", + "Chair|3|1|3", + "HousePlant|surface|3|23", + "DiningTable|3|1|0", + "Painting|3|6" + ] +} \ No newline at end of file diff --git a/train/train1243/4/1_depth_npy.npy b/train/train1243/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c05b41d3205be0c41d0a99ff75d1ee3002f2b5b2 --- /dev/null +++ b/train/train1243/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8145a052f6be48a2fab0a820d0c612670d4462d9e1cae7b90e1289f894623f9b +size 3145856 diff --git a/train/train1243/4/1_semantic_sensor_npy.npy b/train/train1243/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ad9b06709961b39a54487f3e5433d18839a78881 --- /dev/null +++ b/train/train1243/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbe1bedcb9b860152bba675d2f7c595e7ac6dfd95b925fd42c1dde10c17be2a5 +size 2359424 diff --git a/train/train1243/4/depth_0.png b/train/train1243/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..bbd85de3986e6d3632e19a260d8aa3772fe67492 Binary files /dev/null and b/train/train1243/4/depth_0.png differ diff --git a/train/train1243/4/depth_1.png b/train/train1243/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5e76d97c2e2adc260c7a8545fec567ac84733aba Binary files /dev/null and b/train/train1243/4/depth_1.png differ diff --git a/train/train1243/4/mask_questions.jsonl b/train/train1243/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17e7bacd15afbf5e8a4a1ff6945e5660ebe14188 --- /dev/null +++ b/train/train1243/4/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 4841, "folder_dir": "train1243/4", "pair_name": "0-1:Sofa|3|2", "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. Sofa\nC. DiningTable\nD. RemoteControl", "answer": "B", "object_name": "Sofa", "image_1": "train1243/4/rgb_0.png", "image_2": "train1243/4/rgb_1.png", "mask_image": "train1243/4/rgb_1_mask_Sofa|3|2.png", "options": ["Painting", "Sofa", "DiningTable", "RemoteControl"]} +{"id": 4842, "folder_dir": "train1243/4", "pair_name": "1-0:Sofa|3|2", "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. Sofa\nB. Painting\nC. Box\nD. DiningTable", "answer": "A", "object_name": "Sofa", "image_1": "train1243/4/rgb_1.png", "image_2": "train1243/4/rgb_0.png", "mask_image": "train1243/4/rgb_0_mask_Sofa|3|2.png", "options": ["Sofa", "Painting", "Box", "DiningTable"]} diff --git a/train/train1243/4/questions_distance.jsonl b/train/train1243/4/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b4874a09265a7635015fd4dc934c931d1dca364 --- /dev/null +++ b/train/train1243/4/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1961, "folder_dir": "train1243/4", "query": "Which of the following objects is closest to Sofa 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. DogBed\nB. Television\nC. TVStand\nD. Other\n", "answer": "C", "src_object": "Sofa", "target_object": "TVStand", "question": "Which of the following objects is closest to Sofa 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": "DogBed", "semantic_id": "DogBed|3|4", "distance": 4.551976645439765, "com": {"x": 4.012613296508789, "y": 0.0877138301730156, "z": 9.06365966796875}}, {"text": "Television", "semantic_id": "Television|3|0|1", "distance": 3.9057230949981436, "com": {"x": 0.4734106659889221, "y": 1.0922846794128418, "z": 4.681970596313477}}, {"text": "TVStand", "semantic_id": "TVStand|3|0|0", "distance": 3.8549493298250503, "com": {"x": 0.4734106659889221, "y": 0.34467315673828125, "z": 4.681970596313477}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1243/4/rgb_0.png", "image_2": "train1243/4/rgb_1.png"} diff --git a/train/train1243/4/rgb_0.png b/train/train1243/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0d24226c3e8d86eacdf3e9f7c99fc744b860532c --- /dev/null +++ b/train/train1243/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f68cf185c9c595d7f63c591e18a87539059a6d45c7cdcd385639755b19d4d425 +size 1099301 diff --git a/train/train1243/4/rgb_0_mask_Sofa|3|2.png b/train/train1243/4/rgb_0_mask_Sofa|3|2.png new file mode 100644 index 0000000000000000000000000000000000000000..7b41c7fd693ee699eb5ec74840b5daf888582d9d --- /dev/null +++ b/train/train1243/4/rgb_0_mask_Sofa|3|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e03f6381a935a36f845a51543ab9ab7d3c5537d191181600d7da65267b3e0c1f +size 966676 diff --git a/train/train1243/4/rgb_1.png b/train/train1243/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6eef8ea8fd71a132ba6a67b3d4577fecc6a1c7f5 --- /dev/null +++ b/train/train1243/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35588144b437fbb391ba8d8d2dce429625e26823244bed2bd28fc934d9359c06 +size 996667 diff --git a/train/train1243/4/rgb_1_mask_Sofa|3|2.png b/train/train1243/4/rgb_1_mask_Sofa|3|2.png new file mode 100644 index 0000000000000000000000000000000000000000..173d5c8b973f0a984c4f714dd35b374ebc5f58d0 --- /dev/null +++ b/train/train1243/4/rgb_1_mask_Sofa|3|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d242de980657316f9f646af2cfad4856e067078c52d204cf91f19dd5b23eb33a +size 878061 diff --git a/train/train1243/4/semantic_0.png b/train/train1243/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2c35aaca7d4a7796a0f31ed1a38a324bd1eb0650 Binary files /dev/null and b/train/train1243/4/semantic_0.png differ diff --git a/train/train1243/4/semantic_1.png b/train/train1243/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..55053d20f7aafeef06a66c7836ec9eef6aed8743 Binary files /dev/null and b/train/train1243/4/semantic_1.png differ diff --git a/train/train1243/color_to_object_id.json b/train/train1243/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..278dce6f8de83e125a2b5b4c1defc1faada1c4f4 --- /dev/null +++ b/train/train1243/color_to_object_id.json @@ -0,0 +1,3089 @@ +[ + { + "window|6|1": [ + 102, + 42, + 202 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "window|7|0": [ + 75, + 237, + 134 + ] + }, + { + "window|8|1": [ + 60, + 92, + 181 + ] + }, + { + "window|8|0": [ + 164, + 200, + 127 + ] + }, + { + "door|1|2": [ + 41, + 237, + 95 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|6|9": [ + 188, + 117, + 209 + ] + }, + { + "door|4|8": [ + 34, + 34, + 220 + ] + }, + { + "door|3|7": [ + 74, + 155, + 3 + ] + }, + { + "door|8|9": [ + 86, + 210, + 209 + ] + }, + { + "door|3|4": [ + 175, + 231, + 208 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "Painting|2|7": [ + 86, + 38, + 34 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|2|6": [ + 189, + 42, + 23 + ] + }, + { + "Painting|2|5": [ + 70, + 151, + 180 + ] + }, + { + "Painting|9|5": [ + 167, + 93, + 31 + ] + }, + { + "Painting|9|4": [ + 243, + 118, + 231 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Painting|7|8": [ + 144, + 38, + 186 + ] + }, + { + "Painting|7|7": [ + 191, + 175, + 252 + ] + }, + { + "Painting|7|6": [ + 172, + 235, + 250 + ] + }, + { + "Painting|8|7": [ + 188, + 189, + 223 + ] + }, + { + "Painting|8|6": [ + 5, + 22, + 151 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Television|6|5": [ + 21, + 148, + 27 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "ClothesDryer|9|3": [ + 181, + 10, + 250 + ] + }, + { + "ClothesDryer": [ + 248, + 175, + 244 + ] + }, + { + "Plunger|9|2": [ + 24, + 214, + 221 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "Faucet|9|1|1": [ + 177, + 61, + 169 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|9|1|0___0": [ + 228, + 53, + 70 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|9|1|0": [ + 228, + 199, + 126 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|9|90": [ + 120, + 69, + 211 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|9|89": [ + 156, + 174, + 15 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Toilet|9|0": [ + 156, + 227, + 40 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "RemoteControl|surface|8|84": [ + 225, + 194, + 116 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "CellPhone|surface|8|76": [ + 171, + 144, + 123 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "Box|surface|8|74": [ + 230, + 170, + 183 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "TennisRacket|surface|8|70": [ + 172, + 238, + 84 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "Bed|8|5": [ + 147, + 137, + 192 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "HousePlant|8|4|0": [ + 114, + 127, + 191 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CD|surface|8|88": [ + 117, + 82, + 212 + ] + }, + { + "CD": [ + 65, + 112, + 172 + ] + }, + { + "Pen|surface|8|86": [ + 145, + 87, + 148 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Pencil|surface|8|85": [ + 162, + 133, + 243 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "CellPhone|surface|8|79": [ + 90, + 42, + 203 + ] + }, + { + "CellPhone|surface|8|78": [ + 4, + 115, + 38 + ] + }, + { + "Watch|surface|8|73": [ + 249, + 152, + 196 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Watch|surface|8|72": [ + 154, + 31, + 33 + ] + }, + { + "Desk|8|3": [ + 158, + 168, + 8 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "Safe|surface|8|87": [ + 58, + 130, + 138 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Book|surface|8|81": [ + 63, + 74, + 61 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Pen|surface|8|80": [ + 201, + 192, + 141 + ] + }, + { + "Dresser|8|2___3": [ + 251, + 94, + 224 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|8|2___2": [ + 86, + 135, + 242 + ] + }, + { + "Dresser|8|2___1": [ + 158, + 243, + 180 + ] + }, + { + "Dresser|8|2___0": [ + 209, + 237, + 67 + ] + }, + { + "Dresser|8|2": [ + 180, + 26, + 137 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "Pillow|surface|8|82": [ + 51, + 137, + 55 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "BaseballBat|surface|8|71": [ + 90, + 58, + 228 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "Sofa|8|1|1": [ + 156, + 184, + 23 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "KeyChain|surface|8|77": [ + 239, + 191, + 233 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "TissueBox|surface|8|75": [ + 102, + 236, + 222 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "Television|8|1|2": [ + 96, + 238, + 132 + ] + }, + { + "TVStand|8|1|0": [ + 150, + 184, + 209 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Laptop|surface|8|83": [ + 216, + 155, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Bed|8|0": [ + 158, + 151, + 216 + ] + }, + { + "Chair|7|5|2": [ + 16, + 46, + 94 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Chair|7|5|1": [ + 221, + 218, + 53 + ] + }, + { + "Watch|surface|7|68": [ + 180, + 229, + 207 + ] + }, + { + "Book|surface|7|67": [ + 235, + 249, + 238 + ] + }, + { + "RemoteControl|surface|7|60": [ + 13, + 218, + 50 + ] + }, + { + "Statue|surface|7|58": [ + 183, + 1, + 168 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "HousePlant|surface|7|52": [ + 119, + 122, + 38 + ] + }, + { + "DeskLamp|surface|7|50": [ + 214, + 200, + 169 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "DiningTable|7|5|0": [ + 223, + 21, + 105 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "FloorLamp|7|4|1": [ + 44, + 151, + 92 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "ArmChair|7|4|0": [ + 48, + 253, + 158 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "RemoteControl|surface|7|56": [ + 75, + 158, + 88 + ] + }, + { + "Sofa|7|3|1": [ + 22, + 178, + 128 + ] + }, + { + "AlarmClock|surface|7|69": [ + 47, + 25, + 218 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Laptop|surface|7|66": [ + 113, + 170, + 97 + ] + }, + { + "Bowl|surface|7|55": [ + 8, + 109, + 181 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "Television|7|3|2": [ + 183, + 203, + 223 + ] + }, + { + "TVStand|7|3|0": [ + 169, + 130, + 100 + ] + }, + { + "Box|surface|7|65": [ + 93, + 252, + 59 + ] + }, + { + "RemoteControl|surface|7|61": [ + 33, + 92, + 206 + ] + }, + { + "Pillow|7|2|1": [ + 129, + 21, + 159 + ] + }, + { + "Bed|7|2|0": [ + 234, + 239, + 5 + ] + }, + { + "CellPhone|surface|7|64": [ + 35, + 197, + 216 + ] + }, + { + "Statue|surface|7|63": [ + 121, + 186, + 220 + ] + }, + { + "Statue|surface|7|62": [ + 214, + 7, + 132 + ] + }, + { + "KeyChain|surface|7|59": [ + 180, + 128, + 101 + ] + }, + { + "CD|surface|7|57": [ + 53, + 164, + 134 + ] + }, + { + "DeskLamp|surface|7|54": [ + 20, + 92, + 201 + ] + }, + { + "DeskLamp|surface|7|53": [ + 75, + 50, + 143 + ] + }, + { + "Mug|surface|7|51": [ + 172, + 254, + 70 + ] + }, + { + "Mug": [ + 8, + 94, + 186 + ] + }, + { + "Dresser|7|1___11": [ + 44, + 69, + 65 + ] + }, + { + "Dresser|7|1___10": [ + 169, + 111, + 122 + ] + }, + { + "Dresser|7|1___9": [ + 246, + 190, + 46 + ] + }, + { + "Dresser|7|1___8": [ + 6, + 247, + 62 + ] + }, + { + "Dresser|7|1___7": [ + 253, + 147, + 113 + ] + }, + { + "Dresser|7|1___6": [ + 39, + 228, + 228 + ] + }, + { + "Dresser|7|1___5": [ + 79, + 59, + 17 + ] + }, + { + "Dresser|7|1___4": [ + 216, + 216, + 222 + ] + }, + { + "Dresser|7|1___3": [ + 34, + 92, + 3 + ] + }, + { + "Dresser|7|1___2": [ + 73, + 82, + 165 + ] + }, + { + "Dresser|7|1___1": [ + 38, + 233, + 24 + ] + }, + { + "Dresser|7|1___0": [ + 232, + 10, + 73 + ] + }, + { + "Dresser|7|1": [ + 151, + 215, + 122 + ] + }, + { + "Bed|7|0": [ + 210, + 82, + 227 + ] + }, + { + "Chair|6|4|3": [ + 112, + 46, + 29 + ] + }, + { + "Chair|6|4|2": [ + 8, + 98, + 126 + ] + }, + { + "Chair|6|4|1": [ + 79, + 224, + 112 + ] + }, + { + "HousePlant|surface|6|49": [ + 91, + 48, + 218 + ] + }, + { + "Box|surface|6|46": [ + 46, + 19, + 164 + ] + }, + { + "Bowl|surface|6|44": [ + 169, + 14, + 100 + ] + }, + { + "BasketBall|surface|6|43": [ + 146, + 217, + 189 + ] + }, + { + "BasketBall": [ + 97, + 58, + 36 + ] + }, + { + "Book|surface|6|38": [ + 151, + 223, + 111 + ] + }, + { + "DiningTable|6|4|0": [ + 198, + 222, + 38 + ] + }, + { + "AlarmClock|surface|6|41": [ + 168, + 182, + 152 + ] + }, + { + "Book|surface|6|40": [ + 220, + 53, + 116 + ] + }, + { + "Mug|surface|6|39": [ + 217, + 131, + 226 + ] + }, + { + "SideTable|6|3": [ + 172, + 91, + 219 + ] + }, + { + "SideTable": [ + 202, + 45, + 114 + ] + }, + { + "BaseballBat|6|2": [ + 120, + 191, + 143 + ] + }, + { + "RemoteControl|surface|6|48": [ + 146, + 204, + 191 + ] + }, + { + "Vase|surface|6|47": [ + 16, + 65, + 42 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "KeyChain|surface|6|42": [ + 216, + 20, + 105 + ] + }, + { + "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 + ] + }, + { + "TeddyBear|surface|6|45": [ + 137, + 164, + 253 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "Pillow|6|0|1": [ + 251, + 108, + 89 + ] + }, + { + "Bed|6|0|0": [ + 243, + 55, + 136 + ] + }, + { + "Plunger|5|4": [ + 92, + 177, + 31 + ] + }, + { + "GarbageCan|5|3": [ + 105, + 56, + 81 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "LaundryHamper|5|2": [ + 18, + 45, + 58 + ] + }, + { + "LaundryHamper": [ + 35, + 109, + 26 + ] + }, + { + "Faucet|5|1|1": [ + 65, + 42, + 255 + ] + }, + { + "Sink|5|1|0___0": [ + 245, + 52, + 66 + ] + }, + { + "Sink|5|1|0": [ + 201, + 233, + 65 + ] + }, + { + "SprayBottle|surface|5|37": [ + 233, + 231, + 51 + ] + }, + { + "Toilet|5|0": [ + 241, + 253, + 188 + ] + }, + { + "Newspaper|surface|4|33": [ + 192, + 53, + 197 + ] + }, + { + "Newspaper": [ + 19, + 196, + 2 + ] + }, + { + "ShelvingUnit|4|3___3": [ + 207, + 163, + 32 + ] + }, + { + "ShelvingUnit|4|3___2": [ + 140, + 60, + 53 + ] + }, + { + "ShelvingUnit|4|3": [ + 82, + 19, + 215 + ] + }, + { + "ShelvingUnit": [ + 125, + 226, + 119 + ] + }, + { + "ShelvingUnit|4|3___1": [ + 218, + 244, + 224 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "ShelvingUnit|4|3___0": [ + 26, + 158, + 138 + ] + }, + { + "FloorLamp|4|2|1": [ + 114, + 125, + 72 + ] + }, + { + "ArmChair|4|2|0": [ + 193, + 248, + 113 + ] + }, + { + "Bowl|surface|4|36": [ + 18, + 137, + 11 + ] + }, + { + "Pencil|surface|4|35": [ + 226, + 132, + 75 + ] + }, + { + "HousePlant|surface|4|34": [ + 180, + 164, + 108 + ] + }, + { + "DiningTable|4|1": [ + 105, + 9, + 19 + ] + }, + { + "Laptop|surface|4|30": [ + 118, + 148, + 189 + ] + }, + { + "Sofa|4|0|1": [ + 11, + 117, + 107 + ] + }, + { + "Plate|surface|4|32": [ + 60, + 64, + 14 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "Vase|surface|4|31": [ + 56, + 163, + 172 + ] + }, + { + "Television|4|0|2": [ + 149, + 248, + 184 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "DogBed|3|4": [ + 138, + 140, + 27 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Cart|3|3": [ + 190, + 134, + 30 + ] + }, + { + "Cart": [ + 168, + 94, + 186 + ] + }, + { + "Sofa|3|2": [ + 249, + 46, + 40 + ] + }, + { + "Chair|3|1|4": [ + 157, + 243, + 90 + ] + }, + { + "Chair|3|1|3": [ + 236, + 22, + 0 + ] + }, + { + "Chair|3|1|2": [ + 102, + 29, + 50 + ] + }, + { + "Chair|3|1|1": [ + 174, + 135, + 203 + ] + }, + { + "Bowl|surface|3|29": [ + 34, + 254, + 175 + ] + }, + { + "CellPhone|surface|3|26": [ + 144, + 193, + 180 + ] + }, + { + "Pen|surface|3|25": [ + 37, + 246, + 140 + ] + }, + { + "Box|surface|3|24": [ + 219, + 1, + 48 + ] + }, + { + "HousePlant|surface|3|23": [ + 137, + 113, + 4 + ] + }, + { + "DiningTable|3|1|0": [ + 196, + 97, + 143 + ] + }, + { + "CellPhone|surface|3|28": [ + 178, + 233, + 29 + ] + }, + { + "Pencil|surface|3|27": [ + 121, + 248, + 210 + ] + }, + { + "Television|3|0|1": [ + 96, + 188, + 247 + ] + }, + { + "TVStand|3|0|0": [ + 106, + 1, + 198 + ] + }, + { + "ShelvingUnit|2|4___8": [ + 168, + 134, + 21 + ] + }, + { + "ShelvingUnit|2|4___7": [ + 234, + 226, + 212 + ] + }, + { + "ShelvingUnit|2|4___6": [ + 152, + 193, + 231 + ] + }, + { + "ShelvingUnit|2|4___5": [ + 194, + 210, + 163 + ] + }, + { + "ShelvingUnit|2|4___4": [ + 192, + 160, + 57 + ] + }, + { + "ShelvingUnit|2|4___3": [ + 28, + 161, + 34 + ] + }, + { + "ShelvingUnit|2|4___2": [ + 69, + 124, + 121 + ] + }, + { + "ShelvingUnit|2|4___1": [ + 58, + 81, + 90 + ] + }, + { + "ShelvingUnit|2|4___0": [ + 178, + 42, + 183 + ] + }, + { + "ShelvingUnit|2|4": [ + 227, + 127, + 161 + ] + }, + { + "GarbageCan|2|3": [ + 6, + 44, + 101 + ] + }, + { + "Egg|surface|2|22": [ + 5, + 36, + 65 + ] + }, + { + "Egg": [ + 240, + 75, + 163 + ] + }, + { + "Egg|surface|2|21": [ + 14, + 100, + 28 + ] + }, + { + "Tomato|surface|2|20": [ + 75, + 97, + 16 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Potato|surface|2|15": [ + 147, + 238, + 147 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Fridge|2|2": [ + 178, + 79, + 61 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Chair|2|1|5": [ + 235, + 226, + 38 + ] + }, + { + "Chair|2|1|4": [ + 137, + 130, + 113 + ] + }, + { + "Chair|2|1|3": [ + 104, + 70, + 237 + ] + }, + { + "Chair|2|1|2": [ + 137, + 218, + 193 + ] + }, + { + "Chair|2|1|1": [ + 1, + 50, + 41 + ] + }, + { + "Vase|surface|2|18": [ + 191, + 165, + 51 + ] + }, + { + "Knife|surface|2|16": [ + 26, + 250, + 172 + ] + }, + { + "Knife": [ + 211, + 157, + 122 + ] + }, + { + "Plate|surface|2|14": [ + 127, + 93, + 125 + ] + }, + { + "Apple|surface|2|10": [ + 42, + 240, + 244 + ] + }, + { + "Apple": [ + 159, + 98, + 144 + ] + }, + { + "Toaster|surface|2|6": [ + 136, + 98, + 59 + ] + }, + { + "Toaster": [ + 55, + 33, + 114 + ] + }, + { + "DiningTable|2|1|0": [ + 130, + 199, + 107 + ] + }, + { + "Potato|surface|2|19": [ + 179, + 217, + 64 + ] + }, + { + "PepperShaker|surface|2|17": [ + 203, + 73, + 56 + ] + }, + { + "PepperShaker": [ + 5, + 204, + 214 + ] + }, + { + "SaltShaker|surface|2|13": [ + 199, + 160, + 235 + ] + }, + { + "SaltShaker": [ + 36, + 222, + 26 + ] + }, + { + "Lettuce|surface|2|12": [ + 212, + 201, + 212 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "Knife|surface|2|11": [ + 249, + 4, + 154 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Bread|surface|2|8": [ + 9, + 115, + 24 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "HousePlant|surface|2|7": [ + 98, + 135, + 54 + ] + }, + { + "Pot|surface|2|5": [ + 25, + 157, + 168 + ] + }, + { + "Pot": [ + 132, + 237, + 87 + ] + }, + { + "SoapBottle|surface|2|4": [ + 208, + 134, + 84 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "CellPhone|surface|2|3": [ + 150, + 51, + 168 + ] + }, + { + "Pencil|surface|2|2": [ + 39, + 151, + 204 + ] + }, + { + "Book|surface|2|1": [ + 177, + 157, + 244 + ] + }, + { + "CreditCard|surface|2|0": [ + 181, + 179, + 216 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|9|0|3.217562|0": [ + 149, + 155, + 144 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|8|0|3.217562|0": [ + 102, + 157, + 0 + ] + }, + { + "Ceiling_room|7|0|3.217562|0": [ + 221, + 239, + 39 + ] + }, + { + "Ceiling_room|6|0|3.217562|0": [ + 100, + 237, + 199 + ] + }, + { + "Ceiling_room|5|0|3.217562|0": [ + 185, + 63, + 160 + ] + }, + { + "Ceiling_room|4|0|3.217562|0": [ + 26, + 175, + 202 + ] + }, + { + "Ceiling_room|3|0|3.217562|0": [ + 50, + 134, + 197 + ] + }, + { + "Ceiling_room|2|0|3.217562|0": [ + 184, + 93, + 156 + ] + }, + { + "wall|exterior|14.17|30.36|16.19|30.36": [ + 23, + 254, + 200 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|16.19|18.22|16.19|30.36": [ + 4, + 81, + 94 + ] + }, + { + "wall|exterior|16.19|8.10|16.19|18.22": [ + 33, + 199, + 182 + ] + }, + { + "wall|exterior|10.12|32.38|12.14|32.38": [ + 23, + 254, + 151 + ] + }, + { + "wall|exterior|6.07|30.36|10.12|30.36": [ + 244, + 204, + 221 + ] + }, + { + "wall|exterior|10.12|30.36|10.12|32.38": [ + 208, + 78, + 109 + ] + }, + { + "wall|exterior|12.14|30.36|12.14|32.38": [ + 132, + 216, + 119 + ] + }, + { + "wall|exterior|12.14|30.36|14.17|30.36": [ + 21, + 66, + 192 + ] + }, + { + "wall|exterior|10.12|0.00|10.12|2.02": [ + 245, + 195, + 164 + ] + }, + { + "wall|exterior|6.07|2.02|10.12|2.02": [ + 196, + 168, + 86 + ] + }, + { + "wall|exterior|10.12|0.00|16.19|0.00": [ + 128, + 240, + 0 + ] + }, + { + "wall|exterior|6.07|2.02|6.07|4.05": [ + 61, + 81, + 132 + ] + }, + { + "wall|exterior|16.19|0.00|16.19|8.10": [ + 129, + 213, + 198 + ] + }, + { + "wall|exterior|0.00|22.26|0.00|30.36": [ + 131, + 120, + 2 + ] + }, + { + "wall|exterior|0.00|30.36|6.07|30.36": [ + 134, + 67, + 80 + ] + }, + { + "wall|exterior|0.00|14.17|0.00|22.26": [ + 156, + 13, + 115 + ] + }, + { + "wall|exterior|0.00|4.05|0.00|14.17": [ + 26, + 72, + 112 + ] + }, + { + "wall|exterior|0.00|4.05|6.07|4.05": [ + 5, + 78, + 156 + ] + }, + { + "wall|9|6.07|22.26|8.10|22.26": [ + 171, + 173, + 51 + ] + }, + { + "wall|9|8.10|22.26|8.10|26.31": [ + 70, + 77, + 232 + ] + }, + { + "wall|9|8.10|26.31|14.17|26.31": [ + 123, + 100, + 120 + ] + }, + { + "wall|9|14.17|26.31|14.17|30.36": [ + 205, + 104, + 22 + ] + }, + { + "wall|9|12.14|30.36|14.17|30.36": [ + 3, + 211, + 79 + ] + }, + { + "wall|9|12.14|30.36|12.14|32.38": [ + 59, + 199, + 215 + ] + }, + { + "wall|9|10.12|32.38|12.14|32.38": [ + 24, + 213, + 48 + ] + }, + { + "wall|9|10.12|30.36|10.12|32.38": [ + 151, + 103, + 25 + ] + }, + { + "wall|9|6.07|30.36|10.12|30.36": [ + 223, + 171, + 226 + ] + }, + { + "wall|9|6.07|22.26|6.07|30.36": [ + 28, + 174, + 111 + ] + }, + { + "wall|8|0.00|22.26|0.00|30.36": [ + 130, + 198, + 223 + ] + }, + { + "wall|8|0.00|22.26|6.07|22.26": [ + 76, + 218, + 119 + ] + }, + { + "wall|8|6.07|22.26|6.07|30.36": [ + 88, + 165, + 8 + ] + }, + { + "wall|8|0.00|30.36|6.07|30.36": [ + 22, + 14, + 40 + ] + }, + { + "wall|7|16.19|0.00|16.19|8.10": [ + 193, + 238, + 27 + ] + }, + { + "wall|7|10.12|8.10|16.19|8.10": [ + 181, + 56, + 106 + ] + }, + { + "wall|7|10.12|6.07|10.12|8.10": [ + 25, + 39, + 166 + ] + }, + { + "wall|7|8.10|6.07|10.12|6.07": [ + 20, + 9, + 95 + ] + }, + { + "wall|7|8.10|4.05|8.10|6.07": [ + 56, + 101, + 193 + ] + }, + { + "wall|7|6.07|4.05|8.10|4.05": [ + 199, + 14, + 81 + ] + }, + { + "wall|7|6.07|2.02|6.07|4.05": [ + 121, + 57, + 50 + ] + }, + { + "wall|7|6.07|2.02|10.12|2.02": [ + 138, + 163, + 21 + ] + }, + { + "wall|7|10.12|0.00|10.12|2.02": [ + 224, + 245, + 115 + ] + }, + { + "wall|7|10.12|0.00|16.19|0.00": [ + 79, + 243, + 35 + ] + }, + { + "wall|6|8.10|18.22|10.12|18.22": [ + 7, + 207, + 181 + ] + }, + { + "wall|6|10.12|18.22|16.19|18.22": [ + 250, + 76, + 241 + ] + }, + { + "wall|6|16.19|18.22|16.19|30.36": [ + 171, + 78, + 116 + ] + }, + { + "wall|6|14.17|30.36|16.19|30.36": [ + 156, + 106, + 123 + ] + }, + { + "wall|6|14.17|26.31|14.17|30.36": [ + 185, + 34, + 26 + ] + }, + { + "wall|6|8.10|26.31|14.17|26.31": [ + 248, + 155, + 4 + ] + }, + { + "wall|6|8.10|22.26|8.10|26.31": [ + 183, + 180, + 80 + ] + }, + { + "wall|6|8.10|18.22|8.10|22.26": [ + 139, + 50, + 86 + ] + }, + { + "wall|5|6.07|14.17|8.10|14.17": [ + 153, + 5, + 1 + ] + }, + { + "wall|5|8.10|14.17|10.12|14.17": [ + 140, + 132, + 36 + ] + }, + { + "wall|5|10.12|14.17|10.12|18.22": [ + 236, + 45, + 134 + ] + }, + { + "wall|5|8.10|18.22|10.12|18.22": [ + 150, + 25, + 184 + ] + }, + { + "wall|5|8.10|18.22|8.10|22.26": [ + 54, + 135, + 144 + ] + }, + { + "wall|5|6.07|22.26|8.10|22.26": [ + 198, + 100, + 189 + ] + }, + { + "wall|5|6.07|14.17|6.07|22.26": [ + 23, + 156, + 63 + ] + }, + { + "wall|4|0.00|14.17|6.07|14.17": [ + 197, + 13, + 133 + ] + }, + { + "wall|4|6.07|14.17|6.07|22.26": [ + 88, + 189, + 237 + ] + }, + { + "wall|4|0.00|22.26|6.07|22.26": [ + 102, + 79, + 3 + ] + }, + { + "wall|4|0.00|14.17|0.00|22.26": [ + 193, + 55, + 10 + ] + }, + { + "wall|3|0.00|4.05|6.07|4.05": [ + 33, + 32, + 111 + ] + }, + { + "wall|3|6.07|4.05|8.10|4.05": [ + 111, + 144, + 133 + ] + }, + { + "wall|3|8.10|4.05|8.10|6.07": [ + 15, + 85, + 62 + ] + }, + { + "wall|3|8.10|6.07|10.12|6.07": [ + 197, + 18, + 93 + ] + }, + { + "wall|3|10.12|6.07|10.12|8.10": [ + 49, + 230, + 158 + ] + }, + { + "wall|3|6.07|14.17|8.10|14.17": [ + 61, + 161, + 130 + ] + }, + { + "wall|3|0.00|14.17|6.07|14.17": [ + 128, + 19, + 96 + ] + }, + { + "wall|3|0.00|4.05|0.00|14.17": [ + 134, + 20, + 34 + ] + }, + { + "wall|2|10.12|8.10|16.19|8.10": [ + 144, + 243, + 199 + ] + }, + { + "wall|2|16.19|8.10|16.19|18.22": [ + 230, + 212, + 31 + ] + }, + { + "wall|2|10.12|18.22|16.19|18.22": [ + 115, + 42, + 39 + ] + }, + { + "wall|2|10.12|14.17|10.12|18.22": [ + 140, + 83, + 0 + ] + }, + { + "wall|2|8.10|14.17|10.12|14.17": [ + 184, + 157, + 151 + ] + }, + { + "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 + ] + }, + { + "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/train1340/0/0.json b/train/train1340/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..4b10bab6d8198cdb2a124592ae87e4fe3bb11b88 --- /dev/null +++ b/train/train1340/0/0.json @@ -0,0 +1,1433 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|2|0", + "object_info": { + "name": "CellPhone|surface|2|0", + "position": { + "x": 0.27918827533721924, + "y": 0.6329560875892639, + "z": 1.7817189693450928 + }, + "rotation": { + "x": -1.7365708117722534e-05, + "y": 9.167503594653681e-05, + "z": -0.0017125100130215287 + }, + "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": 3.170313596725464, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|0", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3160116672515869, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.7108731269836426 + ] + ], + "center": { + "x": 0.2791883945465088, + "y": 0.6369199156761169, + "z": 1.7813042402267456 + }, + "size": { + "x": 0.07364654541015625, + "y": 0.008381962776184082, + "z": 0.14086222648620605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3160114288330078, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236533045768738, + 0.6327311396598816, + 1.8517353534698486 + ], + [ + 0.24236510694026947, + 0.6327310800552368, + 1.7108732461929321 + ], + [ + 0.3160111904144287, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6411087512969971, + 1.8517353534698486 + ], + [ + 0.24236558377742767, + 0.6411109566688538, + 1.8517353534698486 + ], + [ + 0.24236536026000977, + 0.641110897064209, + 1.7108732461929321 + ], + [ + 0.3160114586353302, + 0.6411086916923523, + 1.7108731269836426 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1", + "object_info": { + "name": "DiningTable|2|1", + "position": { + "x": 0.52500319480896, + "y": -0.00032138824462890625, + "z": 1.4306435585021973 + }, + "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": [ + "CellPhone|surface|2|0", + "CreditCard|surface|2|3" + ], + "distance": 3.338024139404297, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.025004267692566, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 0.02500128746032715 + ] + ], + "center": { + "x": 0.52500319480896, + "y": 0.31636613607406616, + "z": 1.4306435585021973 + }, + "size": { + "x": 1.000002145767212, + "y": 0.6327284574508667, + "z": 2.8112845420837402 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0250036716461182, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250036716461182, + 0.6327301263809204, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 0.6327301263809204, + 0.025002479553222656 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.982281684875488 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.705505609512329, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.408247947692871 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.978139877319336 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 4.408248424530029 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 4.408248424530029 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.5120254755020142, + "y": -0.0028765201568603516, + "z": 3.8572609424591064 + }, + "rotation": { + "x": 0.0023968329187482595, + "y": 55.364139556884766, + "z": 0.039815761148929596 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.415994167327881, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930765748023987, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.7930765748023987, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 3.5769729614257812 + ] + ], + "center": { + "x": 0.5081034302711487, + "y": 0.9391114115715027, + "z": 3.861851215362549 + }, + "size": { + "x": 0.5699462890625, + "y": 1.87910795211792, + "z": 0.5697565078735352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8719737529754639, + -0.0001088273711502552, + 3.793118953704834 + ], + [ + 0.5782931447029114, + -0.00046790228225290775, + 4.218263626098633 + ], + [ + 0.15314579010009766, + -0.00044628651812672615, + 3.9245810508728027 + ], + [ + 0.44682639837265015, + -8.72116070240736e-05, + 3.499436378479004 + ], + [ + 0.8712964057922363, + 1.8787143230438232, + 3.7942378520965576 + ], + [ + 0.5776157379150391, + 1.8783552646636963, + 4.219382286071777 + ], + [ + 0.15246838331222534, + 1.878376841545105, + 3.9257001876831055 + ], + [ + 0.44614899158477783, + 1.878735899925232, + 3.5005555152893066 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|2|3", + "object_info": { + "name": "CreditCard|surface|2|3", + "position": { + "x": 0.5250034332275391, + "y": 0.6330747604370117, + "z": 2.4838674068450928 + }, + "rotation": { + "x": 0.00010029497934738174, + "y": 5.31862533534877e-05, + "z": -0.00028568675043061376 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.5740017890930176, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|3", + "assetId": "CreditCard_1", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.4568681716918945 + ] + ], + "center": { + "x": 0.5250034332275391, + "y": 0.6349747776985168, + "z": 2.4838674068450928 + }, + "size": { + "x": 0.08616471290588379, + "y": 0.0044901371002197266, + "z": 0.053998470306396484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192110657691956, + 0.6327301263809204, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.63273024559021, + 2.4568681716918945 + ], + [ + 0.5680857300758362, + 0.6327298283576965, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372193098068237, + 2.510866641998291 + ], + [ + 0.48192113637924194, + 0.6372197270393372, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372194290161133, + 2.4568681716918945 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.700000047683716, + "y": 0.9009997844696045, + "z": 3.799999952316284 + }, + "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": 2.700000047683716, + "y": 1.5759997367858887, + "z": 3.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Television|2|0|1", + "TVStand|2|0|0", + "TVStand|2|0|0___0", + "ArmChair|2|4|0" + ], + "different_object": [ + "CreditCard|surface|2|3", + "FloorLamp|2|4|1", + "CellPhone|surface|2|0", + "DiningTable|2|1" + ] +} \ No newline at end of file diff --git a/train/train1340/0/0_depth_npy.npy b/train/train1340/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1d9efb5b9b1ea0e95ece24994180ee0fc1fd424d --- /dev/null +++ b/train/train1340/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b474e21b36bb8c4793ae938aa81c4568061cd238f3977b19a0fd95f2bd86cb0 +size 3145856 diff --git a/train/train1340/0/0_semantic_sensor_npy.npy b/train/train1340/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7ac816e1470f4928de03f6662ebb6c23d1d12d91 --- /dev/null +++ b/train/train1340/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a8658f1d49a5d9285fce93f099573422f8110baf03582878a487f518ad19e4d +size 2359424 diff --git a/train/train1340/0/1.json b/train/train1340/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..ad929b7a91bea52a5be8f1d1f7957117766f95a9 --- /dev/null +++ b/train/train1340/0/1.json @@ -0,0 +1,2652 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|2|2", + "object_info": { + "name": "Plate|surface|2|2", + "position": { + "x": 0.21148361265659332, + "y": 0.2742435932159424, + "z": 7.2863311767578125 + }, + "rotation": { + "x": -9.96881155401752e-08, + "y": 7.34229470253922e-05, + "z": 2.0053571461176034e-06 + }, + "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": [ + "Television|2|0|1", + "TVStand|2|0|0", + "Pencil|surface|2|12" + ], + "distance": 4.398014068603516, + "objectType": "Plate", + "objectId": "Plate|surface|2|2", + "assetId": "Plate_19", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31138360500335693, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.18623161315918 + ] + ], + "center": { + "x": 0.2112836092710495, + "y": 0.28458261489868164, + "z": 7.2863311767578125 + }, + "size": { + "x": 0.20019999146461487, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3113837242126465, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113837242126465, + 0.2969161570072174, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.296916127204895, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.296916127204895, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.2969161570072174, + 7.18623161315918 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 4.231997489929199, + "y": -0.0005984306335449219, + "z": 7.205163478851318 + }, + "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": 3.866180419921875, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.3351287841796875, + 2.1049137115478516, + 7.206760406494141 + ], + [ + 4.3351287841796875, + 2.1049137115478516, + 5.213194847106934 + ], + [ + 4.3351287841796875, + -2.384185791015625e-07, + 7.206760406494141 + ], + [ + 4.3351287841796875, + -2.384185791015625e-07, + 5.213194847106934 + ], + [ + 4.128871917724609, + 2.1049137115478516, + 7.206760406494141 + ], + [ + 4.128871917724609, + 2.1049137115478516, + 5.213194847106934 + ], + [ + 4.128871917724609, + -2.384185791015625e-07, + 7.206760406494141 + ], + [ + 4.128871917724609, + -2.384185791015625e-07, + 5.213194847106934 + ] + ], + "center": { + "x": 4.232000350952148, + "y": 1.0524567365646362, + "z": 6.209977626800537 + }, + "size": { + "x": 0.20625686645507812, + "y": 2.1049139499664307, + "z": 1.993565559387207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 3.246455669403076, + "y": 0.5398647785186768, + "z": 7.5515546798706055 + }, + "rotation": { + "x": -4.1318835997117276e-07, + "y": 180.0, + "z": -1.333004320258624e-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": 3.8508057594299316, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4307637214660645, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.4307637214660645, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.47125065326690674, + 7.709601402282715 + ], + [ + 3.4307637214660645, + 0.47125065326690674, + 7.393507957458496 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.0449838638305664, + 0.47125065326690674, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.47125065326690674, + 7.393507957458496 + ] + ], + "center": { + "x": 3.2378737926483154, + "y": 0.5398647785186768, + "z": 7.5515546798706055 + }, + "size": { + "x": 0.38577985763549805, + "y": 0.13722825050354004, + "z": 0.31609344482421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0449838638305664, + 0.4712506830692291, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.4712506830692291, + 7.393507957458496 + ], + [ + 3.4307639598846436, + 0.4712506830692291, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.4712506830692291, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307639598846436, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.709601402282715 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|2|10", + "object_info": { + "name": "Laptop|surface|2|10", + "position": { + "x": 2.6557271480560303, + "y": 0.47125059366226196, + "z": 7.8339104652404785 + }, + "rotation": { + "x": 1.8519562217989005e-05, + "y": 180.0, + "z": -0.00011839794751722366 + }, + "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": 4.107541561126709, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|10", + "assetId": "Laptop_4", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.8319036960601807, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.8319036960601807, + 0.5082831978797913, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.47125017642974854, + 7.970415115356445 + ], + [ + 2.8319036960601807, + 0.47125017642974854, + 7.699281692504883 + ], + [ + 2.47955060005188, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.5082831978797913, + 7.699281692504883 + ], + [ + 2.47955060005188, + 0.47125017642974854, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.47125017642974854, + 7.699281692504883 + ] + ], + "center": { + "x": 2.6557271480560303, + "y": 0.4897666871547699, + "z": 7.834848403930664 + }, + "size": { + "x": 0.3523530960083008, + "y": 0.037033021450042725, + "z": 0.2711334228515625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.47955060005188, + 0.47125017642974854, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.4712509214878082, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.4712510108947754, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.4712502658367157, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.5082823634147644, + 7.699281692504883 + ], + [ + 2.8319034576416016, + 0.5082831382751465, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.508282482624054, + 7.970415115356445 + ] + ] + } + } + }, + { + "objectId": "Sofa|2|2", + "object_info": { + "name": "Sofa|2|2", + "position": { + "x": 2.3583626747131348, + "y": 0.005489140748977661, + "z": 7.908266544342041 + }, + "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": [ + "Laptop|surface|2|10", + "RemoteControl|surface|2|7", + "Newspaper|surface|2|9", + "Pillow|surface|2|8" + ], + "distance": 4.271592140197754, + "objectType": "Sofa", + "objectId": "Sofa|2|2", + "assetId": "Sofa_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7061548233032227, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 7.366266250610352 + ] + ], + "center": { + "x": 2.3541359901428223, + "y": 0.39700156450271606, + "z": 7.903130054473877 + }, + "size": { + "x": 2.704037666320801, + "y": 0.7939980030059814, + "z": 1.0737276077270508 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 8.439994812011719 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|5", + "object_info": { + "name": "RemoteControl|surface|2|5", + "position": { + "x": 0.25122785568237305, + "y": 0.27233099937438965, + "z": 7.434545040130615 + }, + "rotation": { + "x": -3.2016512705013156e-05, + "y": 89.99983978271484, + "z": 359.9407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.496104717254639, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|5", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.34851008653640747, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.4139556884765625 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.28122320771217346, + "z": 7.434530258178711 + }, + "size": { + "x": 0.19456446170806885, + "y": 0.017953813076019287, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34851038455963135, + 0.2722315788269043, + 7.413974761962891 + ], + [ + 0.3485102653503418, + 0.27227407693862915, + 7.455115795135498 + ], + [ + 0.15394532680511475, + 0.2722739577293396, + 7.45511531829834 + ], + [ + 0.1539454460144043, + 0.27223145961761475, + 7.413974285125732 + ], + [ + 0.34851038455963135, + 0.29017242789268494, + 7.413956165313721 + ], + [ + 0.3485102653503418, + 0.2902149260044098, + 7.455097198486328 + ], + [ + 0.15394531190395355, + 0.2902148365974426, + 7.45509672164917 + ], + [ + 0.1539454311132431, + 0.2901723086833954, + 7.4139556884765625 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|7", + "object_info": { + "name": "RemoteControl|surface|2|7", + "position": { + "x": 2.0649936199188232, + "y": 0.4713324308395386, + "z": 7.928028106689453 + }, + "rotation": { + "x": -6.0967751778662205e-05, + "y": 179.99974060058594, + "z": 359.9427795410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.255557060241699, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|7", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.085554599761963, + 0.4892013669013977, + 8.025310516357422 + ], + [ + 2.085554599761963, + 0.4892013669013977, + 7.830745697021484 + ], + [ + 2.085554599761963, + 0.47124791145324707, + 8.025310516357422 + ], + [ + 2.085554599761963, + 0.47124791145324707, + 7.830745697021484 + ], + [ + 2.044404983520508, + 0.4892013669013977, + 8.025310516357422 + ], + [ + 2.044404983520508, + 0.4892013669013977, + 7.830745697021484 + ], + [ + 2.044404983520508, + 0.47124791145324707, + 8.025310516357422 + ], + [ + 2.044404983520508, + 0.47124791145324707, + 7.830745697021484 + ] + ], + "center": { + "x": 2.0649797916412354, + "y": 0.4802246391773224, + "z": 7.928028106689453 + }, + "size": { + "x": 0.04114961624145508, + "y": 0.017953455448150635, + "z": 0.1945648193359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0444235801696777, + 0.4712337553501129, + 7.830745697021484 + ], + [ + 2.085564613342285, + 0.47127485275268555, + 7.830745697021484 + ], + [ + 2.0855636596679688, + 0.47127464413642883, + 8.025310516357422 + ], + [ + 2.0444226264953613, + 0.4712335467338562, + 8.025310516357422 + ], + [ + 2.044405698776245, + 0.48917460441589355, + 7.830745697021484 + ], + [ + 2.0855467319488525, + 0.4892157018184662, + 7.830745697021484 + ], + [ + 2.085545778274536, + 0.4892154932022095, + 8.025310516357422 + ], + [ + 2.0444047451019287, + 0.48917442560195923, + 8.025310516357422 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|6", + "object_info": { + "name": "CellPhone|surface|2|6", + "position": { + "x": 0.13199366629123688, + "y": 0.08899959921836853, + "z": 7.879273891448975 + }, + "rotation": { + "x": -1.6251909983111545e-05, + "y": 0.00011230607196921483, + "z": -0.0012345575960353017 + }, + "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": 4.956228733062744, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|6", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1761598140001297, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.7900071144104 + ] + ], + "center": { + "x": 0.13199375569820404, + "y": 0.09335862100124359, + "z": 7.880053997039795 + }, + "size": { + "x": 0.08833211660385132, + "y": 0.010221049189567566, + "z": 0.18009376525878906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17615960538387299, + 0.08824808895587921, + 7.970100402832031 + ], + [ + 0.08782805502414703, + 0.08824999630451202, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824994415044785, + 7.790007591247559 + ], + [ + 0.17615924775600433, + 0.08824803680181503, + 7.7900071144104 + ], + [ + 0.1761598289012909, + 0.09846728295087814, + 7.970100402832031 + ], + [ + 0.08782827854156494, + 0.09846919029951096, + 7.9701008796691895 + ], + [ + 0.08782792091369629, + 0.09846913814544678, + 7.790007591247559 + ], + [ + 0.17615947127342224, + 0.09846723079681396, + 7.7900071144104 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|surface|2|4", + "object_info": { + "name": "Bowl|surface|2|4", + "position": { + "x": 0.2512280344963074, + "y": 0.2760404050350189, + "z": 7.730989456176758 + }, + "rotation": { + "x": -0.0002101374266203493, + "y": 9.746619616635144e-05, + "z": 0.00014548475155606866 + }, + "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": 4.741593837738037, + "objectType": "Bowl", + "objectId": "Bowl|surface|2|4", + "assetId": "Bowl_11", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3524439334869385, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.630138397216797 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.3097141981124878, + "z": 7.730989456176758 + }, + "size": { + "x": 0.20243215560913086, + "y": 0.07493054866790771, + "z": 0.20170211791992188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.35244452953338623, + 0.2722497582435608, + 7.831840515136719 + ], + [ + 0.15001180768013, + 0.2722492516040802, + 7.831840991973877 + ], + [ + 0.15001145005226135, + 0.2722485065460205, + 7.630138397216797 + ], + [ + 0.3524441719055176, + 0.2722490131855011, + 7.630137920379639 + ], + [ + 0.3524443507194519, + 0.3471798300743103, + 7.831840515136719 + ], + [ + 0.15001161396503448, + 0.3471792936325073, + 7.831840515136719 + ], + [ + 0.15001127123832703, + 0.34717857837677, + 7.630137920379639 + ], + [ + 0.35244399309158325, + 0.3471790552139282, + 7.6301374435424805 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|11", + "object_info": { + "name": "Book|surface|2|11", + "position": { + "x": 0.2114790827035904, + "y": 0.2724092900753021, + "z": 8.027426719665527 + }, + "rotation": { + "x": 359.9937744140625, + "y": 0.00026707403594627976, + "z": 0.1117301732301712 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 5.013541221618652, + "objectType": "Book", + "objectId": "Book|surface|2|11", + "assetId": "RoboTHOR_book_ai2_1_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 7.910268783569336 + ] + ], + "center": { + "x": 0.2118556797504425, + "y": 0.2823987305164337, + "z": 8.027425765991211 + }, + "size": { + "x": 0.17964309453964233, + "y": 0.020993530750274658, + "z": 0.23431396484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.2722751200199127, + 8.14458179473877 + ], + [ + 0.12203618884086609, + 0.27192479372024536, + 8.144582748413086 + ], + [ + 0.12203509360551834, + 0.27189934253692627, + 7.910271644592285 + ], + [ + 0.3016761243343353, + 0.27224966883659363, + 7.910271167755127 + ], + [ + 0.3016369938850403, + 0.2928965389728546, + 8.144579887390137 + ], + [ + 0.1219959706068039, + 0.29254621267318726, + 8.144580841064453 + ], + [ + 0.12199488282203674, + 0.29252079129219055, + 7.910269737243652 + ], + [ + 0.3016359210014343, + 0.2928710877895355, + 7.910268783569336 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|1", + "object_info": { + "name": "Pencil|surface|2|1", + "position": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.286396503448486 + }, + "rotation": { + "x": 0.00017100651166401803, + "y": 2.691403722110408e-07, + "z": -0.00030758854700252414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.427536487579346, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|1", + "assetId": "Pencil_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088304758072, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.2447662353515625 + ] + ], + "center": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.289886951446533 + }, + "size": { + "x": 0.009455233812332153, + "y": 0.00945514440536499, + "z": 0.0902414321899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088006734848, + 0.08824886381626129, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824890851974487, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824918419122696, + 7.2447662353515625 + ], + [ + 0.2162088006734848, + 0.08824913203716278, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770424664020538, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770429879426956, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770456701517105, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770451486110687, + 7.2447662353515625 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.982281684875488 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.705505609512329, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.408247947692871 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.978139877319336 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 4.408248424530029 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 4.408248424530029 + ] + ] + } + } + }, + { + "objectId": "Newspaper|surface|2|9", + "object_info": { + "name": "Newspaper|surface|2|9", + "position": { + "x": 1.7696359157562256, + "y": 0.4760534167289734, + "z": 7.6458210945129395 + }, + "rotation": { + "x": 359.03692626953125, + "y": 180.00201416015625, + "z": -4.851103199143836e-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": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.039692401885986, + "objectType": "Newspaper", + "objectId": "Newspaper|surface|2|9", + "assetId": "Newspaper_5", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.957139492034912, + 0.5014916658401489, + 7.743921279907227 + ], + [ + 1.957139492034912, + 0.5014916658401489, + 7.5470123291015625 + ], + [ + 1.957139492034912, + 0.47125041484832764, + 7.743921279907227 + ], + [ + 1.957139492034912, + 0.47125041484832764, + 7.5470123291015625 + ], + [ + 1.582132339477539, + 0.5014916658401489, + 7.743921279907227 + ], + [ + 1.582132339477539, + 0.5014916658401489, + 7.5470123291015625 + ], + [ + 1.582132339477539, + 0.47125041484832764, + 7.743921279907227 + ], + [ + 1.582132339477539, + 0.47125041484832764, + 7.5470123291015625 + ] + ], + "center": { + "x": 1.7696359157562256, + "y": 0.4863710403442383, + "z": 7.6454668045043945 + }, + "size": { + "x": 0.37500715255737305, + "y": 0.03024125099182129, + "z": 0.19690895080566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5821315050125122, + 0.4712587594985962, + 7.5465168952941895 + ], + [ + 1.9571332931518555, + 0.4712587594985962, + 7.546504020690918 + ], + [ + 1.9571402072906494, + 0.4679412543773651, + 7.743852138519287 + ], + [ + 1.5821385383605957, + 0.4679412543773651, + 7.743865489959717 + ], + [ + 1.5821316242218018, + 0.5048007369041443, + 7.547080993652344 + ], + [ + 1.9571332931518555, + 0.5048007965087891, + 7.547067642211914 + ], + [ + 1.9571402072906494, + 0.5014832615852356, + 7.744416236877441 + ], + [ + 1.5821385383605957, + 0.5014832615852356, + 7.744429111480713 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.700000047683716, + "y": 0.9009997844696045, + "z": 3.799999952316284 + }, + "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": 2.700000047683716, + "y": 1.5759997367858887, + "z": 3.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Television|2|0|1", + "TVStand|2|0|0", + "TVStand|2|0|0___0", + "ArmChair|2|4|0" + ], + "different_object": [ + "door|1|2", + "Newspaper|surface|2|9", + "Pencil|surface|2|1", + "Plate|surface|2|2", + "RemoteControl|surface|2|5", + "RemoteControl|surface|2|7", + "Laptop|surface|2|10", + "Pillow|surface|2|8", + "CellPhone|surface|2|6", + "Bowl|surface|2|4", + "Book|surface|2|11", + "Sofa|2|2" + ] +} \ No newline at end of file diff --git a/train/train1340/0/1_depth_npy.npy b/train/train1340/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c95e74f04dba906adc07c9b036c68f9e336be6c4 --- /dev/null +++ b/train/train1340/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:041418e155e2fb0e21eaa149ad0ae5d70ba55d165bd2c7ec027e6fa842259e89 +size 3145856 diff --git a/train/train1340/0/1_semantic_sensor_npy.npy b/train/train1340/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..21ada88966866eb6be6a2086f0236255ec29362e --- /dev/null +++ b/train/train1340/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0e168e4578f8c3e60b939f37497141410e19cd8efdd68ce0dddf9e27c6672e9 +size 2359424 diff --git a/train/train1340/0/depth_0.png b/train/train1340/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ac84e84a3d1b5c1a2f74f3122cff8fabba8ef09e Binary files /dev/null and b/train/train1340/0/depth_0.png differ diff --git a/train/train1340/0/depth_1.png b/train/train1340/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..02148271208b79490148a9620c6417305e7b7c87 Binary files /dev/null and b/train/train1340/0/depth_1.png differ diff --git a/train/train1340/0/mask_questions.jsonl b/train/train1340/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1340/0/rgb_0.png b/train/train1340/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..785c1f9d37d1c5aed0b7839bad073f8c28be67b5 --- /dev/null +++ b/train/train1340/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c81bba3046a8e84689f4beb781a16456159f9f298075af55be6d3708eb1e2fb +size 729110 diff --git a/train/train1340/0/rgb_1.png b/train/train1340/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3a790c99c2f3602b2f4342d82968dfb9a2f7a09e --- /dev/null +++ b/train/train1340/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba9ca0ec6b63f13b61c48db3260414f1f064c1463536820dd5b3b8efdd4c8d47 +size 676259 diff --git a/train/train1340/0/semantic_0.png b/train/train1340/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1b9dea426d42a96aaded6f39b670ea050f85f577 Binary files /dev/null and b/train/train1340/0/semantic_0.png differ diff --git a/train/train1340/0/semantic_1.png b/train/train1340/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..51e61a5041e4529248f0b7dff004170c7db2733f Binary files /dev/null and b/train/train1340/0/semantic_1.png differ diff --git a/train/train1340/1/0.json b/train/train1340/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..a04af2a1bb3d0f672ba7c5fe91d68adcfa53c3e5 --- /dev/null +++ b/train/train1340/1/0.json @@ -0,0 +1,2875 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|2|2", + "object_info": { + "name": "Plate|surface|2|2", + "position": { + "x": 0.21148361265659332, + "y": 0.2742435932159424, + "z": 7.2863311767578125 + }, + "rotation": { + "x": -9.96881155401752e-08, + "y": 7.34229470253922e-05, + "z": 2.0053571461176034e-06 + }, + "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": [ + "Television|2|0|1", + "TVStand|2|0|0", + "Pencil|surface|2|12" + ], + "distance": 4.398014068603516, + "objectType": "Plate", + "objectId": "Plate|surface|2|2", + "assetId": "Plate_19", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31138360500335693, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.18623161315918 + ] + ], + "center": { + "x": 0.2112836092710495, + "y": 0.28458261489868164, + "z": 7.2863311767578125 + }, + "size": { + "x": 0.20019999146461487, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3113837242126465, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113837242126465, + 0.2969161570072174, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.296916127204895, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.296916127204895, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.2969161570072174, + 7.18623161315918 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 4.231997489929199, + "y": -0.0005984306335449219, + "z": 7.205163478851318 + }, + "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": 3.866180419921875, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.3351287841796875, + 2.1049137115478516, + 7.206760406494141 + ], + [ + 4.3351287841796875, + 2.1049137115478516, + 5.213194847106934 + ], + [ + 4.3351287841796875, + -2.384185791015625e-07, + 7.206760406494141 + ], + [ + 4.3351287841796875, + -2.384185791015625e-07, + 5.213194847106934 + ], + [ + 4.128871917724609, + 2.1049137115478516, + 7.206760406494141 + ], + [ + 4.128871917724609, + 2.1049137115478516, + 5.213194847106934 + ], + [ + 4.128871917724609, + -2.384185791015625e-07, + 7.206760406494141 + ], + [ + 4.128871917724609, + -2.384185791015625e-07, + 5.213194847106934 + ] + ], + "center": { + "x": 4.232000350952148, + "y": 1.0524567365646362, + "z": 6.209977626800537 + }, + "size": { + "x": 0.20625686645507812, + "y": 2.1049139499664307, + "z": 1.993565559387207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 3.246455669403076, + "y": 0.5398647785186768, + "z": 7.5515546798706055 + }, + "rotation": { + "x": -4.1318835997117276e-07, + "y": 180.0, + "z": -1.333004320258624e-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": 3.8508057594299316, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4307637214660645, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.4307637214660645, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.47125065326690674, + 7.709601402282715 + ], + [ + 3.4307637214660645, + 0.47125065326690674, + 7.393507957458496 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.0449838638305664, + 0.47125065326690674, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.47125065326690674, + 7.393507957458496 + ] + ], + "center": { + "x": 3.2378737926483154, + "y": 0.5398647785186768, + "z": 7.5515546798706055 + }, + "size": { + "x": 0.38577985763549805, + "y": 0.13722825050354004, + "z": 0.31609344482421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0449838638305664, + 0.4712506830692291, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.4712506830692291, + 7.393507957458496 + ], + [ + 3.4307639598846436, + 0.4712506830692291, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.4712506830692291, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307639598846436, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.709601402282715 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|2|10", + "object_info": { + "name": "Laptop|surface|2|10", + "position": { + "x": 2.6557271480560303, + "y": 0.47125059366226196, + "z": 7.8339104652404785 + }, + "rotation": { + "x": 1.8519562217989005e-05, + "y": 180.0, + "z": -0.00011839794751722366 + }, + "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": 4.107541561126709, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|10", + "assetId": "Laptop_4", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.8319036960601807, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.8319036960601807, + 0.5082831978797913, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.47125017642974854, + 7.970415115356445 + ], + [ + 2.8319036960601807, + 0.47125017642974854, + 7.699281692504883 + ], + [ + 2.47955060005188, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.5082831978797913, + 7.699281692504883 + ], + [ + 2.47955060005188, + 0.47125017642974854, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.47125017642974854, + 7.699281692504883 + ] + ], + "center": { + "x": 2.6557271480560303, + "y": 0.4897666871547699, + "z": 7.834848403930664 + }, + "size": { + "x": 0.3523530960083008, + "y": 0.037033021450042725, + "z": 0.2711334228515625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.47955060005188, + 0.47125017642974854, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.4712509214878082, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.4712510108947754, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.4712502658367157, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.5082823634147644, + 7.699281692504883 + ], + [ + 2.8319034576416016, + 0.5082831382751465, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.508282482624054, + 7.970415115356445 + ] + ] + } + } + }, + { + "objectId": "Sofa|2|2", + "object_info": { + "name": "Sofa|2|2", + "position": { + "x": 2.3583626747131348, + "y": 0.005489140748977661, + "z": 7.908266544342041 + }, + "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": [ + "Laptop|surface|2|10", + "RemoteControl|surface|2|7", + "Newspaper|surface|2|9", + "Pillow|surface|2|8" + ], + "distance": 4.271592140197754, + "objectType": "Sofa", + "objectId": "Sofa|2|2", + "assetId": "Sofa_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7061548233032227, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 7.366266250610352 + ] + ], + "center": { + "x": 2.3541359901428223, + "y": 0.39700156450271606, + "z": 7.903130054473877 + }, + "size": { + "x": 2.704037666320801, + "y": 0.7939980030059814, + "z": 1.0737276077270508 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 8.439994812011719 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|5", + "object_info": { + "name": "RemoteControl|surface|2|5", + "position": { + "x": 0.25122785568237305, + "y": 0.27233099937438965, + "z": 7.434545040130615 + }, + "rotation": { + "x": -3.2016512705013156e-05, + "y": 89.99983978271484, + "z": 359.9407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.496104717254639, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|5", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.34851008653640747, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.4139556884765625 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.28122320771217346, + "z": 7.434530258178711 + }, + "size": { + "x": 0.19456446170806885, + "y": 0.017953813076019287, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34851038455963135, + 0.2722315788269043, + 7.413974761962891 + ], + [ + 0.3485102653503418, + 0.27227407693862915, + 7.455115795135498 + ], + [ + 0.15394532680511475, + 0.2722739577293396, + 7.45511531829834 + ], + [ + 0.1539454460144043, + 0.27223145961761475, + 7.413974285125732 + ], + [ + 0.34851038455963135, + 0.29017242789268494, + 7.413956165313721 + ], + [ + 0.3485102653503418, + 0.2902149260044098, + 7.455097198486328 + ], + [ + 0.15394531190395355, + 0.2902148365974426, + 7.45509672164917 + ], + [ + 0.1539454311132431, + 0.2901723086833954, + 7.4139556884765625 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|7", + "object_info": { + "name": "RemoteControl|surface|2|7", + "position": { + "x": 2.0649936199188232, + "y": 0.4713324308395386, + "z": 7.928028106689453 + }, + "rotation": { + "x": -6.0967751778662205e-05, + "y": 179.99974060058594, + "z": 359.9427795410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.255557060241699, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|7", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.085554599761963, + 0.4892013669013977, + 8.025310516357422 + ], + [ + 2.085554599761963, + 0.4892013669013977, + 7.830745697021484 + ], + [ + 2.085554599761963, + 0.47124791145324707, + 8.025310516357422 + ], + [ + 2.085554599761963, + 0.47124791145324707, + 7.830745697021484 + ], + [ + 2.044404983520508, + 0.4892013669013977, + 8.025310516357422 + ], + [ + 2.044404983520508, + 0.4892013669013977, + 7.830745697021484 + ], + [ + 2.044404983520508, + 0.47124791145324707, + 8.025310516357422 + ], + [ + 2.044404983520508, + 0.47124791145324707, + 7.830745697021484 + ] + ], + "center": { + "x": 2.0649797916412354, + "y": 0.4802246391773224, + "z": 7.928028106689453 + }, + "size": { + "x": 0.04114961624145508, + "y": 0.017953455448150635, + "z": 0.1945648193359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0444235801696777, + 0.4712337553501129, + 7.830745697021484 + ], + [ + 2.085564613342285, + 0.47127485275268555, + 7.830745697021484 + ], + [ + 2.0855636596679688, + 0.47127464413642883, + 8.025310516357422 + ], + [ + 2.0444226264953613, + 0.4712335467338562, + 8.025310516357422 + ], + [ + 2.044405698776245, + 0.48917460441589355, + 7.830745697021484 + ], + [ + 2.0855467319488525, + 0.4892157018184662, + 7.830745697021484 + ], + [ + 2.085545778274536, + 0.4892154932022095, + 8.025310516357422 + ], + [ + 2.0444047451019287, + 0.48917442560195923, + 8.025310516357422 + ] + ] + } + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 2.057117223739624, + "y": 1.9743480682373047, + "z": 8.459127426147461 + }, + "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": 4.8793487548828125, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.435427665710449, + 2.3477015495300293, + 8.460000038146973 + ], + [ + 2.435427665710449, + 2.3477015495300293, + 8.444001197814941 + ], + [ + 2.435427665710449, + 1.6018950939178467, + 8.460000038146973 + ], + [ + 2.435427665710449, + 1.6018950939178467, + 8.444001197814941 + ], + [ + 1.6787185668945312, + 2.3477015495300293, + 8.460000038146973 + ], + [ + 1.6787185668945312, + 2.3477015495300293, + 8.444001197814941 + ], + [ + 1.6787185668945312, + 1.6018950939178467, + 8.460000038146973 + ], + [ + 1.6787185668945312, + 1.6018950939178467, + 8.444001197814941 + ] + ], + "center": { + "x": 2.0570731163024902, + "y": 1.974798321723938, + "z": 8.452000617980957 + }, + "size": { + "x": 0.756709098815918, + "y": 0.7458064556121826, + "z": 0.01599884033203125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|2|6", + "object_info": { + "name": "CellPhone|surface|2|6", + "position": { + "x": 0.13199366629123688, + "y": 0.08899959921836853, + "z": 7.879273891448975 + }, + "rotation": { + "x": -1.6251909983111545e-05, + "y": 0.00011230607196921483, + "z": -0.0012345575960353017 + }, + "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": 4.956228733062744, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|6", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1761598140001297, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.7900071144104 + ] + ], + "center": { + "x": 0.13199375569820404, + "y": 0.09335862100124359, + "z": 7.880053997039795 + }, + "size": { + "x": 0.08833211660385132, + "y": 0.010221049189567566, + "z": 0.18009376525878906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17615960538387299, + 0.08824808895587921, + 7.970100402832031 + ], + [ + 0.08782805502414703, + 0.08824999630451202, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824994415044785, + 7.790007591247559 + ], + [ + 0.17615924775600433, + 0.08824803680181503, + 7.7900071144104 + ], + [ + 0.1761598289012909, + 0.09846728295087814, + 7.970100402832031 + ], + [ + 0.08782827854156494, + 0.09846919029951096, + 7.9701008796691895 + ], + [ + 0.08782792091369629, + 0.09846913814544678, + 7.790007591247559 + ], + [ + 0.17615947127342224, + 0.09846723079681396, + 7.7900071144104 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|surface|2|4", + "object_info": { + "name": "Bowl|surface|2|4", + "position": { + "x": 0.2512280344963074, + "y": 0.2760404050350189, + "z": 7.730989456176758 + }, + "rotation": { + "x": -0.0002101374266203493, + "y": 9.746619616635144e-05, + "z": 0.00014548475155606866 + }, + "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": 4.741593837738037, + "objectType": "Bowl", + "objectId": "Bowl|surface|2|4", + "assetId": "Bowl_11", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3524439334869385, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.630138397216797 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.3097141981124878, + "z": 7.730989456176758 + }, + "size": { + "x": 0.20243215560913086, + "y": 0.07493054866790771, + "z": 0.20170211791992188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.35244452953338623, + 0.2722497582435608, + 7.831840515136719 + ], + [ + 0.15001180768013, + 0.2722492516040802, + 7.831840991973877 + ], + [ + 0.15001145005226135, + 0.2722485065460205, + 7.630138397216797 + ], + [ + 0.3524441719055176, + 0.2722490131855011, + 7.630137920379639 + ], + [ + 0.3524443507194519, + 0.3471798300743103, + 7.831840515136719 + ], + [ + 0.15001161396503448, + 0.3471792936325073, + 7.831840515136719 + ], + [ + 0.15001127123832703, + 0.34717857837677, + 7.630137920379639 + ], + [ + 0.35244399309158325, + 0.3471790552139282, + 7.6301374435424805 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|11", + "object_info": { + "name": "Book|surface|2|11", + "position": { + "x": 0.2114790827035904, + "y": 0.2724092900753021, + "z": 8.027426719665527 + }, + "rotation": { + "x": 359.9937744140625, + "y": 0.00026707403594627976, + "z": 0.1117301732301712 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 5.013541221618652, + "objectType": "Book", + "objectId": "Book|surface|2|11", + "assetId": "RoboTHOR_book_ai2_1_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 7.910268783569336 + ] + ], + "center": { + "x": 0.2118556797504425, + "y": 0.2823987305164337, + "z": 8.027425765991211 + }, + "size": { + "x": 0.17964309453964233, + "y": 0.020993530750274658, + "z": 0.23431396484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.2722751200199127, + 8.14458179473877 + ], + [ + 0.12203618884086609, + 0.27192479372024536, + 8.144582748413086 + ], + [ + 0.12203509360551834, + 0.27189934253692627, + 7.910271644592285 + ], + [ + 0.3016761243343353, + 0.27224966883659363, + 7.910271167755127 + ], + [ + 0.3016369938850403, + 0.2928965389728546, + 8.144579887390137 + ], + [ + 0.1219959706068039, + 0.29254621267318726, + 8.144580841064453 + ], + [ + 0.12199488282203674, + 0.29252079129219055, + 7.910269737243652 + ], + [ + 0.3016359210014343, + 0.2928710877895355, + 7.910268783569336 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|1", + "object_info": { + "name": "Pencil|surface|2|1", + "position": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.286396503448486 + }, + "rotation": { + "x": 0.00017100651166401803, + "y": 2.691403722110408e-07, + "z": -0.00030758854700252414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.427536487579346, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|1", + "assetId": "Pencil_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088304758072, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.2447662353515625 + ] + ], + "center": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.289886951446533 + }, + "size": { + "x": 0.009455233812332153, + "y": 0.00945514440536499, + "z": 0.0902414321899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088006734848, + 0.08824886381626129, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824890851974487, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824918419122696, + 7.2447662353515625 + ], + [ + 0.2162088006734848, + 0.08824913203716278, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770424664020538, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770429879426956, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770456701517105, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770451486110687, + 7.2447662353515625 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.982281684875488 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.705505609512329, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.408247947692871 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.978139877319336 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 4.408248424530029 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 4.408248424530029 + ] + ] + } + } + }, + { + "objectId": "Painting|2|6", + "object_info": { + "name": "Painting|2|6", + "position": { + "x": 3.4889817237854004, + "y": 1.601880669593811, + "z": 8.460004806518555 + }, + "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": 4.81886625289917, + "objectType": "Painting", + "objectId": "Painting|2|6", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.950185537338257, + 1.9252064228057861, + 8.460000038146973 + ], + [ + 3.950185537338257, + 1.9252064228057861, + 8.42825984954834 + ], + [ + 3.950185537338257, + 1.278554916381836, + 8.460000038146973 + ], + [ + 3.950185537338257, + 1.278554916381836, + 8.42825984954834 + ], + [ + 3.027777910232544, + 1.9252064228057861, + 8.460000038146973 + ], + [ + 3.027777910232544, + 1.9252064228057861, + 8.42825984954834 + ], + [ + 3.027777910232544, + 1.278554916381836, + 8.460000038146973 + ], + [ + 3.027777910232544, + 1.278554916381836, + 8.42825984954834 + ] + ], + "center": { + "x": 3.4889817237854004, + "y": 1.601880669593811, + "z": 8.444129943847656 + }, + "size": { + "x": 0.9224076271057129, + "y": 0.6466515064239502, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Newspaper|surface|2|9", + "object_info": { + "name": "Newspaper|surface|2|9", + "position": { + "x": 1.7696359157562256, + "y": 0.4760534167289734, + "z": 7.6458210945129395 + }, + "rotation": { + "x": 359.03692626953125, + "y": 180.00201416015625, + "z": -4.851103199143836e-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": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.039692401885986, + "objectType": "Newspaper", + "objectId": "Newspaper|surface|2|9", + "assetId": "Newspaper_5", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.957139492034912, + 0.5014916658401489, + 7.743921279907227 + ], + [ + 1.957139492034912, + 0.5014916658401489, + 7.5470123291015625 + ], + [ + 1.957139492034912, + 0.47125041484832764, + 7.743921279907227 + ], + [ + 1.957139492034912, + 0.47125041484832764, + 7.5470123291015625 + ], + [ + 1.582132339477539, + 0.5014916658401489, + 7.743921279907227 + ], + [ + 1.582132339477539, + 0.5014916658401489, + 7.5470123291015625 + ], + [ + 1.582132339477539, + 0.47125041484832764, + 7.743921279907227 + ], + [ + 1.582132339477539, + 0.47125041484832764, + 7.5470123291015625 + ] + ], + "center": { + "x": 1.7696359157562256, + "y": 0.4863710403442383, + "z": 7.6454668045043945 + }, + "size": { + "x": 0.37500715255737305, + "y": 0.03024125099182129, + "z": 0.19690895080566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5821315050125122, + 0.4712587594985962, + 7.5465168952941895 + ], + [ + 1.9571332931518555, + 0.4712587594985962, + 7.546504020690918 + ], + [ + 1.9571402072906494, + 0.4679412543773651, + 7.743852138519287 + ], + [ + 1.5821385383605957, + 0.4679412543773651, + 7.743865489959717 + ], + [ + 1.5821316242218018, + 0.5048007369041443, + 7.547080993652344 + ], + [ + 1.9571332931518555, + 0.5048007965087891, + 7.547067642211914 + ], + [ + 1.9571402072906494, + 0.5014832615852356, + 7.744416236877441 + ], + [ + 1.5821385383605957, + 0.5014832615852356, + 7.744429111480713 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.5999999046325684, + "y": 0.9009997844696045, + "z": 4.0 + }, + "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": 2.5999999046325684, + "y": 1.5759997367858887, + "z": 4.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Pencil|surface|2|1", + "Plate|surface|2|2", + "RemoteControl|surface|2|5", + "Television|2|0|1", + "CellPhone|surface|2|6", + "TVStand|2|0|0", + "TVStand|2|0|0___0", + "ArmChair|2|4|0" + ], + "different_object": [ + "door|1|2", + "Newspaper|surface|2|9", + "Sofa|2|2", + "Painting|2|6", + "RemoteControl|surface|2|7", + "Laptop|surface|2|10", + "Bowl|surface|2|4", + "Painting|2|7", + "Book|surface|2|11", + "Pillow|surface|2|8" + ] +} \ No newline at end of file diff --git a/train/train1340/1/0_depth_npy.npy b/train/train1340/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..542e44c873e794684c7a91ff60d138eefc8a115c --- /dev/null +++ b/train/train1340/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ca43383feeedbecf2eb5ed6cf476dbda6bf579524d7de343ba01f5d879aebeb +size 3145856 diff --git a/train/train1340/1/0_semantic_sensor_npy.npy b/train/train1340/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..da6ba04c8586cb13237061b22e15862390e333c6 --- /dev/null +++ b/train/train1340/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60ff18ffb31c36139426ec220d51a01912c3458a525d2b5979d40b7634185eb1 +size 2359424 diff --git a/train/train1340/1/1.json b/train/train1340/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d6785408e650b6d6fffae50df3bc625d83f95a91 --- /dev/null +++ b/train/train1340/1/1.json @@ -0,0 +1,2066 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|2|2", + "object_info": { + "name": "Plate|surface|2|2", + "position": { + "x": 0.21148361265659332, + "y": 0.2742435932159424, + "z": 7.2863311767578125 + }, + "rotation": { + "x": -9.96881155401752e-08, + "y": 7.34229470253922e-05, + "z": 2.0053571461176034e-06 + }, + "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": [ + "Television|2|0|1", + "TVStand|2|0|0", + "Pencil|surface|2|12" + ], + "distance": 4.398014068603516, + "objectType": "Plate", + "objectId": "Plate|surface|2|2", + "assetId": "Plate_19", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31138360500335693, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.18623161315918 + ] + ], + "center": { + "x": 0.2112836092710495, + "y": 0.28458261489868164, + "z": 7.2863311767578125 + }, + "size": { + "x": 0.20019999146461487, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3113837242126465, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113837242126465, + 0.2969161570072174, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.296916127204895, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.296916127204895, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.2969161570072174, + 7.18623161315918 + ] + ] + } + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|2|5", + "object_info": { + "name": "RemoteControl|surface|2|5", + "position": { + "x": 0.25122785568237305, + "y": 0.27233099937438965, + "z": 7.434545040130615 + }, + "rotation": { + "x": -3.2016512705013156e-05, + "y": 89.99983978271484, + "z": 359.9407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.496104717254639, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|5", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.34851008653640747, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.4139556884765625 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.28122320771217346, + "z": 7.434530258178711 + }, + "size": { + "x": 0.19456446170806885, + "y": 0.017953813076019287, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34851038455963135, + 0.2722315788269043, + 7.413974761962891 + ], + [ + 0.3485102653503418, + 0.27227407693862915, + 7.455115795135498 + ], + [ + 0.15394532680511475, + 0.2722739577293396, + 7.45511531829834 + ], + [ + 0.1539454460144043, + 0.27223145961761475, + 7.413974285125732 + ], + [ + 0.34851038455963135, + 0.29017242789268494, + 7.413956165313721 + ], + [ + 0.3485102653503418, + 0.2902149260044098, + 7.455097198486328 + ], + [ + 0.15394531190395355, + 0.2902148365974426, + 7.45509672164917 + ], + [ + 0.1539454311132431, + 0.2901723086833954, + 7.4139556884765625 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|6", + "object_info": { + "name": "CellPhone|surface|2|6", + "position": { + "x": 0.13199366629123688, + "y": 0.08899959921836853, + "z": 7.879273891448975 + }, + "rotation": { + "x": -1.6251909983111545e-05, + "y": 0.00011230607196921483, + "z": -0.0012345575960353017 + }, + "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": 4.956228733062744, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|6", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1761598140001297, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.7900071144104 + ] + ], + "center": { + "x": 0.13199375569820404, + "y": 0.09335862100124359, + "z": 7.880053997039795 + }, + "size": { + "x": 0.08833211660385132, + "y": 0.010221049189567566, + "z": 0.18009376525878906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17615960538387299, + 0.08824808895587921, + 7.970100402832031 + ], + [ + 0.08782805502414703, + 0.08824999630451202, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824994415044785, + 7.790007591247559 + ], + [ + 0.17615924775600433, + 0.08824803680181503, + 7.7900071144104 + ], + [ + 0.1761598289012909, + 0.09846728295087814, + 7.970100402832031 + ], + [ + 0.08782827854156494, + 0.09846919029951096, + 7.9701008796691895 + ], + [ + 0.08782792091369629, + 0.09846913814544678, + 7.790007591247559 + ], + [ + 0.17615947127342224, + 0.09846723079681396, + 7.7900071144104 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|2|0", + "object_info": { + "name": "CellPhone|surface|2|0", + "position": { + "x": 0.27918827533721924, + "y": 0.6329560875892639, + "z": 1.7817189693450928 + }, + "rotation": { + "x": -1.7365708117722534e-05, + "y": 9.167503594653681e-05, + "z": -0.0017125100130215287 + }, + "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": 3.170313596725464, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|0", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3160116672515869, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.7108731269836426 + ] + ], + "center": { + "x": 0.2791883945465088, + "y": 0.6369199156761169, + "z": 1.7813042402267456 + }, + "size": { + "x": 0.07364654541015625, + "y": 0.008381962776184082, + "z": 0.14086222648620605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3160114288330078, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236533045768738, + 0.6327311396598816, + 1.8517353534698486 + ], + [ + 0.24236510694026947, + 0.6327310800552368, + 1.7108732461929321 + ], + [ + 0.3160111904144287, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6411087512969971, + 1.8517353534698486 + ], + [ + 0.24236558377742767, + 0.6411109566688538, + 1.8517353534698486 + ], + [ + 0.24236536026000977, + 0.641110897064209, + 1.7108732461929321 + ], + [ + 0.3160114586353302, + 0.6411086916923523, + 1.7108731269836426 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|1", + "object_info": { + "name": "Pencil|surface|2|1", + "position": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.286396503448486 + }, + "rotation": { + "x": 0.00017100651166401803, + "y": 2.691403722110408e-07, + "z": -0.00030758854700252414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.427536487579346, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|1", + "assetId": "Pencil_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088304758072, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.2447662353515625 + ] + ], + "center": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.289886951446533 + }, + "size": { + "x": 0.009455233812332153, + "y": 0.00945514440536499, + "z": 0.0902414321899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088006734848, + 0.08824886381626129, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824890851974487, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824918419122696, + 7.2447662353515625 + ], + [ + 0.2162088006734848, + 0.08824913203716278, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770424664020538, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770429879426956, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770456701517105, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770451486110687, + 7.2447662353515625 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1", + "object_info": { + "name": "DiningTable|2|1", + "position": { + "x": 0.52500319480896, + "y": -0.00032138824462890625, + "z": 1.4306435585021973 + }, + "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": [ + "CellPhone|surface|2|0", + "CreditCard|surface|2|3" + ], + "distance": 3.338024139404297, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.025004267692566, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 0.02500128746032715 + ] + ], + "center": { + "x": 0.52500319480896, + "y": 0.31636613607406616, + "z": 1.4306435585021973 + }, + "size": { + "x": 1.000002145767212, + "y": 0.6327284574508667, + "z": 2.8112845420837402 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0250036716461182, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250036716461182, + 0.6327301263809204, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 0.6327301263809204, + 0.025002479553222656 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.982281684875488 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.705505609512329, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.408247947692871 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.978139877319336 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 4.408248424530029 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 4.408248424530029 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.5120254755020142, + "y": -0.0028765201568603516, + "z": 3.8572609424591064 + }, + "rotation": { + "x": 0.0023968329187482595, + "y": 55.364139556884766, + "z": 0.039815761148929596 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.415994167327881, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930765748023987, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.7930765748023987, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 3.5769729614257812 + ] + ], + "center": { + "x": 0.5081034302711487, + "y": 0.9391114115715027, + "z": 3.861851215362549 + }, + "size": { + "x": 0.5699462890625, + "y": 1.87910795211792, + "z": 0.5697565078735352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8719737529754639, + -0.0001088273711502552, + 3.793118953704834 + ], + [ + 0.5782931447029114, + -0.00046790228225290775, + 4.218263626098633 + ], + [ + 0.15314579010009766, + -0.00044628651812672615, + 3.9245810508728027 + ], + [ + 0.44682639837265015, + -8.72116070240736e-05, + 3.499436378479004 + ], + [ + 0.8712964057922363, + 1.8787143230438232, + 3.7942378520965576 + ], + [ + 0.5776157379150391, + 1.8783552646636963, + 4.219382286071777 + ], + [ + 0.15246838331222534, + 1.878376841545105, + 3.9257001876831055 + ], + [ + 0.44614899158477783, + 1.878735899925232, + 3.5005555152893066 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|2|3", + "object_info": { + "name": "CreditCard|surface|2|3", + "position": { + "x": 0.5250034332275391, + "y": 0.6330747604370117, + "z": 2.4838674068450928 + }, + "rotation": { + "x": 0.00010029497934738174, + "y": 5.31862533534877e-05, + "z": -0.00028568675043061376 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.5740017890930176, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|3", + "assetId": "CreditCard_1", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.4568681716918945 + ] + ], + "center": { + "x": 0.5250034332275391, + "y": 0.6349747776985168, + "z": 2.4838674068450928 + }, + "size": { + "x": 0.08616471290588379, + "y": 0.0044901371002197266, + "z": 0.053998470306396484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192110657691956, + 0.6327301263809204, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.63273024559021, + 2.4568681716918945 + ], + [ + 0.5680857300758362, + 0.6327298283576965, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372193098068237, + 2.510866641998291 + ], + [ + 0.48192113637924194, + 0.6372197270393372, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372194290161133, + 2.4568681716918945 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.5999999046325684, + "y": 0.9009997844696045, + "z": 4.0 + }, + "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": 2.5999999046325684, + "y": 1.5759997367858887, + "z": 4.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Pencil|surface|2|1", + "Plate|surface|2|2", + "RemoteControl|surface|2|5", + "Television|2|0|1", + "CellPhone|surface|2|6", + "TVStand|2|0|0", + "TVStand|2|0|0___0", + "ArmChair|2|4|0" + ], + "different_object": [ + "CreditCard|surface|2|3", + "FloorLamp|2|4|1", + "CellPhone|surface|2|0", + "DiningTable|2|1" + ] +} \ No newline at end of file diff --git a/train/train1340/1/1_depth_npy.npy b/train/train1340/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..316392c701ab426b9d36583fe749b0451f84060b --- /dev/null +++ b/train/train1340/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:370debee7c4f32830925d301d684f2485ef0cff10c0b6b45381c8cd7961d21e9 +size 3145856 diff --git a/train/train1340/1/1_semantic_sensor_npy.npy b/train/train1340/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5e19038323bfe232c096f3d6bdf64213ea4b676e --- /dev/null +++ b/train/train1340/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e15e494796cf014db69cf63a4c19058e241d52a8cd50c39abb0db29b696033cb +size 2359424 diff --git a/train/train1340/1/depth_0.png b/train/train1340/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fd7dcff5005e968aab345d34a4eb3051022e0531 Binary files /dev/null and b/train/train1340/1/depth_0.png differ diff --git a/train/train1340/1/depth_1.png b/train/train1340/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b1490d251fb8aee02e33de7e178ebe5705453904 Binary files /dev/null and b/train/train1340/1/depth_1.png differ diff --git a/train/train1340/1/mask_questions.jsonl b/train/train1340/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5eaf468e350dab809fffdbef7b18cd8cc960772 --- /dev/null +++ b/train/train1340/1/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 4864, "folder_dir": "train1340/1", "pair_name": "0-1:Television|2|0|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. Laptop\nB. Pillow\nC. Television\nD. DiningTable", "answer": "C", "object_name": "Television", "image_1": "train1340/1/rgb_0.png", "image_2": "train1340/1/rgb_1.png", "mask_image": "train1340/1/rgb_1_mask_Television|2|0|1.png", "options": ["Laptop", "Pillow", "Television", "DiningTable"]} +{"id": 4865, "folder_dir": "train1340/1", "pair_name": "0-1:ArmChair|2|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. Newspaper\nB. Laptop\nC. ArmChair\nD. DiningTable", "answer": "C", "object_name": "ArmChair", "image_1": "train1340/1/rgb_0.png", "image_2": "train1340/1/rgb_1.png", "mask_image": "train1340/1/rgb_1_mask_ArmChair|2|4|0.png", "options": ["Newspaper", "Laptop", "ArmChair", "DiningTable"]} +{"id": 4866, "folder_dir": "train1340/1", "pair_name": "1-0:ArmChair|2|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. CreditCard\nB. FloorLamp\nC. ArmChair\nD. DiningTable", "answer": "C", "object_name": "ArmChair", "image_1": "train1340/1/rgb_1.png", "image_2": "train1340/1/rgb_0.png", "mask_image": "train1340/1/rgb_0_mask_ArmChair|2|4|0.png", "options": ["CreditCard", "FloorLamp", "ArmChair", "DiningTable"]} diff --git a/train/train1340/1/questions_distance.jsonl b/train/train1340/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b20770b10b18e9bfbbf0804f3623ed85e8e9b7d --- /dev/null +++ b/train/train1340/1/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 1973, "folder_dir": "train1340/1", "query": "Which of the following objects is closest to Window 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. Television\nB. ArmChair\nC. Plate\nD. Other\n", "answer": "A", "src_object": "Window", "target_object": "Television", "question": "Which of the following objects is closest to Window 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": "Television", "semantic_id": "Television|2|0|1", "distance": 1.4201409505152913, "com": {"x": 0.20993827283382416, "y": 1.0551341772079468, "z": 7.5885090827941895}}, {"text": "ArmChair", "semantic_id": "ArmChair|2|4|0", "distance": 1.7171054486395814, "com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.978139877319336}}, {"text": "Plate", "semantic_id": "Plate|surface|2|2", "distance": 1.6064781097097522, "com": {"x": 0.2112836092710495, "y": 0.28458261489868164, "z": 7.2863311767578125}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1340/1/rgb_0.png", "image_2": "train1340/1/rgb_1.png"} +{"id": 1974, "folder_dir": "train1340/1", "query": "Which of the following objects is closest to Television 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. Book\nB. Bowl\nC. Plate\nD. Other\n", "answer": "B", "src_object": "Television", "target_object": "Bowl", "question": "Which of the following objects is closest to Television 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": "Book", "semantic_id": "Book|surface|2|11", "distance": 0.8886909484244174, "com": {"x": 0.2118556797504425, "y": 0.2823987305164337, "z": 8.027425765991211}}, {"text": "Bowl", "semantic_id": "Bowl|surface|2|4", "distance": 0.7600371252022613, "com": {"x": 0.25122785568237305, "y": 0.3097141981124878, "z": 7.730989456176758}}, {"text": "Plate", "semantic_id": "Plate|surface|2|2", "distance": 0.8276853309101884, "com": {"x": 0.2112836092710495, "y": 0.28458261489868164, "z": 7.2863311767578125}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1340/1/rgb_0.png", "image_2": "train1340/1/rgb_1.png"} +{"id": 1975, "folder_dir": "train1340/1", "query": "Which of the following objects is closest to ArmChair 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. Window\nB. FloorLamp\nC. Plate\nD. Other\n", "answer": "B", "src_object": "ArmChair", "target_object": "FloorLamp", "question": "Which of the following objects is closest to ArmChair 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": "Window", "semantic_id": "window|2|1", "distance": 1.7171054486395814, "com": {"x": -2.2351741790771484e-08, "y": 1.498793125152588, "z": 6.255882740020752}}, {"text": "FloorLamp", "semantic_id": "FloorLamp|2|4|1", "distance": 1.2098658846576054, "com": {"x": 0.5081034302711487, "y": 0.9391114115715027, "z": 3.861851215362549}}, {"text": "Plate", "semantic_id": "Plate|surface|2|2", "distance": 2.3353473166459846, "com": {"x": 0.2112836092710495, "y": 0.28458261489868164, "z": 7.2863311767578125}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1340/1/rgb_0.png", "image_2": "train1340/1/rgb_1.png"} diff --git a/train/train1340/1/rgb_0.png b/train/train1340/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb4e36944791ef114eed818ed2e79d382e14c5b0 --- /dev/null +++ b/train/train1340/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f25371a88fae1f692d72dbbcea4c425b8e46bf6ce57da5020ce906a36670f232 +size 630785 diff --git a/train/train1340/1/rgb_0_mask_ArmChair|2|4|0.png b/train/train1340/1/rgb_0_mask_ArmChair|2|4|0.png new file mode 100644 index 0000000000000000000000000000000000000000..26347d24643b293cb44ff7f7274e21e47a4ae3d0 --- /dev/null +++ b/train/train1340/1/rgb_0_mask_ArmChair|2|4|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac25601bffb11c9c016d5d536ca12fe71415b9271d0e6fb03c80037b0361c8e0 +size 489506 diff --git a/train/train1340/1/rgb_1.png b/train/train1340/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b8e1cc943fee626ae52b0cf4716268ef62bb4ba2 --- /dev/null +++ b/train/train1340/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e585e2418555bfa1fc180b2f5153e313739530ef47ed648d2876cfff2cda9c33 +size 646089 diff --git a/train/train1340/1/rgb_1_mask_ArmChair|2|4|0.png b/train/train1340/1/rgb_1_mask_ArmChair|2|4|0.png new file mode 100644 index 0000000000000000000000000000000000000000..4082d5c0e5a557c65a510f541a5fb943cd017b6b --- /dev/null +++ b/train/train1340/1/rgb_1_mask_ArmChair|2|4|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0405a3fb377e48c7e013764c1cd0cdeec7e6e6c88f852f22448f3f672dab4a4 +size 523991 diff --git a/train/train1340/1/rgb_1_mask_Television|2|0|1.png b/train/train1340/1/rgb_1_mask_Television|2|0|1.png new file mode 100644 index 0000000000000000000000000000000000000000..7645a05b5fd95ec6ea45b650bb424d172f084170 --- /dev/null +++ b/train/train1340/1/rgb_1_mask_Television|2|0|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:982ab148e7ad4f72ad8ce669446de333662a27416eb984fe3824fda388bdf3ce +size 558278 diff --git a/train/train1340/1/semantic_0.png b/train/train1340/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6090df45828263938ca12a57ced25767478105ed Binary files /dev/null and b/train/train1340/1/semantic_0.png differ diff --git a/train/train1340/1/semantic_1.png b/train/train1340/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..142c9b0b3442efeb2fe3812b6866c8167db6aa4c Binary files /dev/null and b/train/train1340/1/semantic_1.png differ diff --git a/train/train1340/2/0.json b/train/train1340/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..67e08658a2467aa860f7fa7a2b89cc5625e9be96 --- /dev/null +++ b/train/train1340/2/0.json @@ -0,0 +1,1908 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|2|2", + "object_info": { + "name": "Plate|surface|2|2", + "position": { + "x": 0.21148361265659332, + "y": 0.2742435932159424, + "z": 7.2863311767578125 + }, + "rotation": { + "x": -9.96881155401752e-08, + "y": 7.34229470253922e-05, + "z": 2.0053571461176034e-06 + }, + "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": [ + "Television|2|0|1", + "TVStand|2|0|0", + "Pencil|surface|2|12" + ], + "distance": 4.398014068603516, + "objectType": "Plate", + "objectId": "Plate|surface|2|2", + "assetId": "Plate_19", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31138360500335693, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.18623161315918 + ] + ], + "center": { + "x": 0.2112836092710495, + "y": 0.28458261489868164, + "z": 7.2863311767578125 + }, + "size": { + "x": 0.20019999146461487, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3113837242126465, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113837242126465, + 0.2969161570072174, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.296916127204895, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.296916127204895, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.2969161570072174, + 7.18623161315918 + ] + ] + } + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|2|5", + "object_info": { + "name": "RemoteControl|surface|2|5", + "position": { + "x": 0.25122785568237305, + "y": 0.27233099937438965, + "z": 7.434545040130615 + }, + "rotation": { + "x": -3.2016512705013156e-05, + "y": 89.99983978271484, + "z": 359.9407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.496104717254639, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|5", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.34851008653640747, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.4139556884765625 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.28122320771217346, + "z": 7.434530258178711 + }, + "size": { + "x": 0.19456446170806885, + "y": 0.017953813076019287, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34851038455963135, + 0.2722315788269043, + 7.413974761962891 + ], + [ + 0.3485102653503418, + 0.27227407693862915, + 7.455115795135498 + ], + [ + 0.15394532680511475, + 0.2722739577293396, + 7.45511531829834 + ], + [ + 0.1539454460144043, + 0.27223145961761475, + 7.413974285125732 + ], + [ + 0.34851038455963135, + 0.29017242789268494, + 7.413956165313721 + ], + [ + 0.3485102653503418, + 0.2902149260044098, + 7.455097198486328 + ], + [ + 0.15394531190395355, + 0.2902148365974426, + 7.45509672164917 + ], + [ + 0.1539454311132431, + 0.2901723086833954, + 7.4139556884765625 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|2|0", + "object_info": { + "name": "CellPhone|surface|2|0", + "position": { + "x": 0.27918827533721924, + "y": 0.6329560875892639, + "z": 1.7817189693450928 + }, + "rotation": { + "x": -1.7365708117722534e-05, + "y": 9.167503594653681e-05, + "z": -0.0017125100130215287 + }, + "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": 3.170313596725464, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|0", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3160116672515869, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.7108731269836426 + ] + ], + "center": { + "x": 0.2791883945465088, + "y": 0.6369199156761169, + "z": 1.7813042402267456 + }, + "size": { + "x": 0.07364654541015625, + "y": 0.008381962776184082, + "z": 0.14086222648620605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3160114288330078, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236533045768738, + 0.6327311396598816, + 1.8517353534698486 + ], + [ + 0.24236510694026947, + 0.6327310800552368, + 1.7108732461929321 + ], + [ + 0.3160111904144287, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6411087512969971, + 1.8517353534698486 + ], + [ + 0.24236558377742767, + 0.6411109566688538, + 1.8517353534698486 + ], + [ + 0.24236536026000977, + 0.641110897064209, + 1.7108732461929321 + ], + [ + 0.3160114586353302, + 0.6411086916923523, + 1.7108731269836426 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|1", + "object_info": { + "name": "Pencil|surface|2|1", + "position": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.286396503448486 + }, + "rotation": { + "x": 0.00017100651166401803, + "y": 2.691403722110408e-07, + "z": -0.00030758854700252414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.427536487579346, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|1", + "assetId": "Pencil_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088304758072, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.2447662353515625 + ] + ], + "center": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.289886951446533 + }, + "size": { + "x": 0.009455233812332153, + "y": 0.00945514440536499, + "z": 0.0902414321899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088006734848, + 0.08824886381626129, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824890851974487, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824918419122696, + 7.2447662353515625 + ], + [ + 0.2162088006734848, + 0.08824913203716278, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770424664020538, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770429879426956, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770456701517105, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770451486110687, + 7.2447662353515625 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1", + "object_info": { + "name": "DiningTable|2|1", + "position": { + "x": 0.52500319480896, + "y": -0.00032138824462890625, + "z": 1.4306435585021973 + }, + "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": [ + "CellPhone|surface|2|0", + "CreditCard|surface|2|3" + ], + "distance": 3.338024139404297, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.025004267692566, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 0.02500128746032715 + ] + ], + "center": { + "x": 0.52500319480896, + "y": 0.31636613607406616, + "z": 1.4306435585021973 + }, + "size": { + "x": 1.000002145767212, + "y": 0.6327284574508667, + "z": 2.8112845420837402 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0250036716461182, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250036716461182, + 0.6327301263809204, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 0.6327301263809204, + 0.025002479553222656 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.982281684875488 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.705505609512329, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.408247947692871 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.978139877319336 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 4.408248424530029 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 4.408248424530029 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.5120254755020142, + "y": -0.0028765201568603516, + "z": 3.8572609424591064 + }, + "rotation": { + "x": 0.0023968329187482595, + "y": 55.364139556884766, + "z": 0.039815761148929596 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.415994167327881, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930765748023987, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.7930765748023987, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 3.5769729614257812 + ] + ], + "center": { + "x": 0.5081034302711487, + "y": 0.9391114115715027, + "z": 3.861851215362549 + }, + "size": { + "x": 0.5699462890625, + "y": 1.87910795211792, + "z": 0.5697565078735352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8719737529754639, + -0.0001088273711502552, + 3.793118953704834 + ], + [ + 0.5782931447029114, + -0.00046790228225290775, + 4.218263626098633 + ], + [ + 0.15314579010009766, + -0.00044628651812672615, + 3.9245810508728027 + ], + [ + 0.44682639837265015, + -8.72116070240736e-05, + 3.499436378479004 + ], + [ + 0.8712964057922363, + 1.8787143230438232, + 3.7942378520965576 + ], + [ + 0.5776157379150391, + 1.8783552646636963, + 4.219382286071777 + ], + [ + 0.15246838331222534, + 1.878376841545105, + 3.9257001876831055 + ], + [ + 0.44614899158477783, + 1.878735899925232, + 3.5005555152893066 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|2|3", + "object_info": { + "name": "CreditCard|surface|2|3", + "position": { + "x": 0.5250034332275391, + "y": 0.6330747604370117, + "z": 2.4838674068450928 + }, + "rotation": { + "x": 0.00010029497934738174, + "y": 5.31862533534877e-05, + "z": -0.00028568675043061376 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.5740017890930176, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|3", + "assetId": "CreditCard_1", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.4568681716918945 + ] + ], + "center": { + "x": 0.5250034332275391, + "y": 0.6349747776985168, + "z": 2.4838674068450928 + }, + "size": { + "x": 0.08616471290588379, + "y": 0.0044901371002197266, + "z": 0.053998470306396484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192110657691956, + 0.6327301263809204, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.63273024559021, + 2.4568681716918945 + ], + [ + 0.5680857300758362, + 0.6327298283576965, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372193098068237, + 2.510866641998291 + ], + [ + 0.48192113637924194, + 0.6372197270393372, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372194290161133, + 2.4568681716918945 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0999999046325684, + "y": 0.9009997844696045, + "z": 4.0 + }, + "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": 3.0999999046325684, + "y": 1.5759997367858887, + "z": 4.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Pencil|surface|2|1", + "Plate|surface|2|2", + "RemoteControl|surface|2|5", + "Television|2|0|1", + "TVStand|2|0|0", + "TVStand|2|0|0___0", + "ArmChair|2|4|0" + ], + "different_object": [ + "CreditCard|surface|2|3", + "FloorLamp|2|4|1", + "CellPhone|surface|2|0", + "DiningTable|2|1" + ] +} \ No newline at end of file diff --git a/train/train1340/2/0_depth_npy.npy b/train/train1340/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9ef6ebd8a7324b722269e6a1047457c63c77874a --- /dev/null +++ b/train/train1340/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c740e8b2470d72400e5cff1f4070236b17cdffcd5619e2d125c73ff77929e5d1 +size 3145856 diff --git a/train/train1340/2/0_semantic_sensor_npy.npy b/train/train1340/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..16eb8167a64962dab53315f00cc72bd9b7e19b18 --- /dev/null +++ b/train/train1340/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25655a743b37958672f1e54b9fede454ade2293d86efc81a236dd3bf4f65248e +size 2359424 diff --git a/train/train1340/2/1.json b/train/train1340/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..3eae4783bb8b96fcb1aae171ef5a23dba5f03b00 --- /dev/null +++ b/train/train1340/2/1.json @@ -0,0 +1,2875 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|2|2", + "object_info": { + "name": "Plate|surface|2|2", + "position": { + "x": 0.21148361265659332, + "y": 0.2742435932159424, + "z": 7.2863311767578125 + }, + "rotation": { + "x": -9.96881155401752e-08, + "y": 7.34229470253922e-05, + "z": 2.0053571461176034e-06 + }, + "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": [ + "Television|2|0|1", + "TVStand|2|0|0", + "Pencil|surface|2|12" + ], + "distance": 4.398014068603516, + "objectType": "Plate", + "objectId": "Plate|surface|2|2", + "assetId": "Plate_19", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31138360500335693, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.18623161315918 + ] + ], + "center": { + "x": 0.2112836092710495, + "y": 0.28458261489868164, + "z": 7.2863311767578125 + }, + "size": { + "x": 0.20019999146461487, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3113837242126465, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113837242126465, + 0.2969161570072174, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.296916127204895, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.296916127204895, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.2969161570072174, + 7.18623161315918 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 4.231997489929199, + "y": -0.0005984306335449219, + "z": 7.205163478851318 + }, + "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": 3.866180419921875, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.3351287841796875, + 2.1049137115478516, + 7.206760406494141 + ], + [ + 4.3351287841796875, + 2.1049137115478516, + 5.213194847106934 + ], + [ + 4.3351287841796875, + -2.384185791015625e-07, + 7.206760406494141 + ], + [ + 4.3351287841796875, + -2.384185791015625e-07, + 5.213194847106934 + ], + [ + 4.128871917724609, + 2.1049137115478516, + 7.206760406494141 + ], + [ + 4.128871917724609, + 2.1049137115478516, + 5.213194847106934 + ], + [ + 4.128871917724609, + -2.384185791015625e-07, + 7.206760406494141 + ], + [ + 4.128871917724609, + -2.384185791015625e-07, + 5.213194847106934 + ] + ], + "center": { + "x": 4.232000350952148, + "y": 1.0524567365646362, + "z": 6.209977626800537 + }, + "size": { + "x": 0.20625686645507812, + "y": 2.1049139499664307, + "z": 1.993565559387207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 3.246455669403076, + "y": 0.5398647785186768, + "z": 7.5515546798706055 + }, + "rotation": { + "x": -4.1318835997117276e-07, + "y": 180.0, + "z": -1.333004320258624e-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": 3.8508057594299316, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4307637214660645, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.4307637214660645, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.47125065326690674, + 7.709601402282715 + ], + [ + 3.4307637214660645, + 0.47125065326690674, + 7.393507957458496 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.0449838638305664, + 0.47125065326690674, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.47125065326690674, + 7.393507957458496 + ] + ], + "center": { + "x": 3.2378737926483154, + "y": 0.5398647785186768, + "z": 7.5515546798706055 + }, + "size": { + "x": 0.38577985763549805, + "y": 0.13722825050354004, + "z": 0.31609344482421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0449838638305664, + 0.4712506830692291, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.4712506830692291, + 7.393507957458496 + ], + [ + 3.4307639598846436, + 0.4712506830692291, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.4712506830692291, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307639598846436, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.709601402282715 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|2|10", + "object_info": { + "name": "Laptop|surface|2|10", + "position": { + "x": 2.6557271480560303, + "y": 0.47125059366226196, + "z": 7.8339104652404785 + }, + "rotation": { + "x": 1.8519562217989005e-05, + "y": 180.0, + "z": -0.00011839794751722366 + }, + "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": 4.107541561126709, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|10", + "assetId": "Laptop_4", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.8319036960601807, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.8319036960601807, + 0.5082831978797913, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.47125017642974854, + 7.970415115356445 + ], + [ + 2.8319036960601807, + 0.47125017642974854, + 7.699281692504883 + ], + [ + 2.47955060005188, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.5082831978797913, + 7.699281692504883 + ], + [ + 2.47955060005188, + 0.47125017642974854, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.47125017642974854, + 7.699281692504883 + ] + ], + "center": { + "x": 2.6557271480560303, + "y": 0.4897666871547699, + "z": 7.834848403930664 + }, + "size": { + "x": 0.3523530960083008, + "y": 0.037033021450042725, + "z": 0.2711334228515625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.47955060005188, + 0.47125017642974854, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.4712509214878082, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.4712510108947754, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.4712502658367157, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.5082823634147644, + 7.699281692504883 + ], + [ + 2.8319034576416016, + 0.5082831382751465, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.508282482624054, + 7.970415115356445 + ] + ] + } + } + }, + { + "objectId": "Sofa|2|2", + "object_info": { + "name": "Sofa|2|2", + "position": { + "x": 2.3583626747131348, + "y": 0.005489140748977661, + "z": 7.908266544342041 + }, + "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": [ + "Laptop|surface|2|10", + "RemoteControl|surface|2|7", + "Newspaper|surface|2|9", + "Pillow|surface|2|8" + ], + "distance": 4.271592140197754, + "objectType": "Sofa", + "objectId": "Sofa|2|2", + "assetId": "Sofa_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7061548233032227, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 7.366266250610352 + ] + ], + "center": { + "x": 2.3541359901428223, + "y": 0.39700156450271606, + "z": 7.903130054473877 + }, + "size": { + "x": 2.704037666320801, + "y": 0.7939980030059814, + "z": 1.0737276077270508 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 8.439994812011719 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|5", + "object_info": { + "name": "RemoteControl|surface|2|5", + "position": { + "x": 0.25122785568237305, + "y": 0.27233099937438965, + "z": 7.434545040130615 + }, + "rotation": { + "x": -3.2016512705013156e-05, + "y": 89.99983978271484, + "z": 359.9407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.496104717254639, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|5", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.34851008653640747, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.4139556884765625 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.28122320771217346, + "z": 7.434530258178711 + }, + "size": { + "x": 0.19456446170806885, + "y": 0.017953813076019287, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34851038455963135, + 0.2722315788269043, + 7.413974761962891 + ], + [ + 0.3485102653503418, + 0.27227407693862915, + 7.455115795135498 + ], + [ + 0.15394532680511475, + 0.2722739577293396, + 7.45511531829834 + ], + [ + 0.1539454460144043, + 0.27223145961761475, + 7.413974285125732 + ], + [ + 0.34851038455963135, + 0.29017242789268494, + 7.413956165313721 + ], + [ + 0.3485102653503418, + 0.2902149260044098, + 7.455097198486328 + ], + [ + 0.15394531190395355, + 0.2902148365974426, + 7.45509672164917 + ], + [ + 0.1539454311132431, + 0.2901723086833954, + 7.4139556884765625 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|7", + "object_info": { + "name": "RemoteControl|surface|2|7", + "position": { + "x": 2.0649936199188232, + "y": 0.4713324308395386, + "z": 7.928028106689453 + }, + "rotation": { + "x": -6.0967751778662205e-05, + "y": 179.99974060058594, + "z": 359.9427795410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.255557060241699, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|7", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.085554599761963, + 0.4892013669013977, + 8.025310516357422 + ], + [ + 2.085554599761963, + 0.4892013669013977, + 7.830745697021484 + ], + [ + 2.085554599761963, + 0.47124791145324707, + 8.025310516357422 + ], + [ + 2.085554599761963, + 0.47124791145324707, + 7.830745697021484 + ], + [ + 2.044404983520508, + 0.4892013669013977, + 8.025310516357422 + ], + [ + 2.044404983520508, + 0.4892013669013977, + 7.830745697021484 + ], + [ + 2.044404983520508, + 0.47124791145324707, + 8.025310516357422 + ], + [ + 2.044404983520508, + 0.47124791145324707, + 7.830745697021484 + ] + ], + "center": { + "x": 2.0649797916412354, + "y": 0.4802246391773224, + "z": 7.928028106689453 + }, + "size": { + "x": 0.04114961624145508, + "y": 0.017953455448150635, + "z": 0.1945648193359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0444235801696777, + 0.4712337553501129, + 7.830745697021484 + ], + [ + 2.085564613342285, + 0.47127485275268555, + 7.830745697021484 + ], + [ + 2.0855636596679688, + 0.47127464413642883, + 8.025310516357422 + ], + [ + 2.0444226264953613, + 0.4712335467338562, + 8.025310516357422 + ], + [ + 2.044405698776245, + 0.48917460441589355, + 7.830745697021484 + ], + [ + 2.0855467319488525, + 0.4892157018184662, + 7.830745697021484 + ], + [ + 2.085545778274536, + 0.4892154932022095, + 8.025310516357422 + ], + [ + 2.0444047451019287, + 0.48917442560195923, + 8.025310516357422 + ] + ] + } + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 2.057117223739624, + "y": 1.9743480682373047, + "z": 8.459127426147461 + }, + "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": 4.8793487548828125, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.435427665710449, + 2.3477015495300293, + 8.460000038146973 + ], + [ + 2.435427665710449, + 2.3477015495300293, + 8.444001197814941 + ], + [ + 2.435427665710449, + 1.6018950939178467, + 8.460000038146973 + ], + [ + 2.435427665710449, + 1.6018950939178467, + 8.444001197814941 + ], + [ + 1.6787185668945312, + 2.3477015495300293, + 8.460000038146973 + ], + [ + 1.6787185668945312, + 2.3477015495300293, + 8.444001197814941 + ], + [ + 1.6787185668945312, + 1.6018950939178467, + 8.460000038146973 + ], + [ + 1.6787185668945312, + 1.6018950939178467, + 8.444001197814941 + ] + ], + "center": { + "x": 2.0570731163024902, + "y": 1.974798321723938, + "z": 8.452000617980957 + }, + "size": { + "x": 0.756709098815918, + "y": 0.7458064556121826, + "z": 0.01599884033203125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|2|6", + "object_info": { + "name": "CellPhone|surface|2|6", + "position": { + "x": 0.13199366629123688, + "y": 0.08899959921836853, + "z": 7.879273891448975 + }, + "rotation": { + "x": -1.6251909983111545e-05, + "y": 0.00011230607196921483, + "z": -0.0012345575960353017 + }, + "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": 4.956228733062744, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|6", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1761598140001297, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.7900071144104 + ] + ], + "center": { + "x": 0.13199375569820404, + "y": 0.09335862100124359, + "z": 7.880053997039795 + }, + "size": { + "x": 0.08833211660385132, + "y": 0.010221049189567566, + "z": 0.18009376525878906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17615960538387299, + 0.08824808895587921, + 7.970100402832031 + ], + [ + 0.08782805502414703, + 0.08824999630451202, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824994415044785, + 7.790007591247559 + ], + [ + 0.17615924775600433, + 0.08824803680181503, + 7.7900071144104 + ], + [ + 0.1761598289012909, + 0.09846728295087814, + 7.970100402832031 + ], + [ + 0.08782827854156494, + 0.09846919029951096, + 7.9701008796691895 + ], + [ + 0.08782792091369629, + 0.09846913814544678, + 7.790007591247559 + ], + [ + 0.17615947127342224, + 0.09846723079681396, + 7.7900071144104 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|surface|2|4", + "object_info": { + "name": "Bowl|surface|2|4", + "position": { + "x": 0.2512280344963074, + "y": 0.2760404050350189, + "z": 7.730989456176758 + }, + "rotation": { + "x": -0.0002101374266203493, + "y": 9.746619616635144e-05, + "z": 0.00014548475155606866 + }, + "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": 4.741593837738037, + "objectType": "Bowl", + "objectId": "Bowl|surface|2|4", + "assetId": "Bowl_11", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3524439334869385, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.630138397216797 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.3097141981124878, + "z": 7.730989456176758 + }, + "size": { + "x": 0.20243215560913086, + "y": 0.07493054866790771, + "z": 0.20170211791992188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.35244452953338623, + 0.2722497582435608, + 7.831840515136719 + ], + [ + 0.15001180768013, + 0.2722492516040802, + 7.831840991973877 + ], + [ + 0.15001145005226135, + 0.2722485065460205, + 7.630138397216797 + ], + [ + 0.3524441719055176, + 0.2722490131855011, + 7.630137920379639 + ], + [ + 0.3524443507194519, + 0.3471798300743103, + 7.831840515136719 + ], + [ + 0.15001161396503448, + 0.3471792936325073, + 7.831840515136719 + ], + [ + 0.15001127123832703, + 0.34717857837677, + 7.630137920379639 + ], + [ + 0.35244399309158325, + 0.3471790552139282, + 7.6301374435424805 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|11", + "object_info": { + "name": "Book|surface|2|11", + "position": { + "x": 0.2114790827035904, + "y": 0.2724092900753021, + "z": 8.027426719665527 + }, + "rotation": { + "x": 359.9937744140625, + "y": 0.00026707403594627976, + "z": 0.1117301732301712 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 5.013541221618652, + "objectType": "Book", + "objectId": "Book|surface|2|11", + "assetId": "RoboTHOR_book_ai2_1_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 7.910268783569336 + ] + ], + "center": { + "x": 0.2118556797504425, + "y": 0.2823987305164337, + "z": 8.027425765991211 + }, + "size": { + "x": 0.17964309453964233, + "y": 0.020993530750274658, + "z": 0.23431396484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.2722751200199127, + 8.14458179473877 + ], + [ + 0.12203618884086609, + 0.27192479372024536, + 8.144582748413086 + ], + [ + 0.12203509360551834, + 0.27189934253692627, + 7.910271644592285 + ], + [ + 0.3016761243343353, + 0.27224966883659363, + 7.910271167755127 + ], + [ + 0.3016369938850403, + 0.2928965389728546, + 8.144579887390137 + ], + [ + 0.1219959706068039, + 0.29254621267318726, + 8.144580841064453 + ], + [ + 0.12199488282203674, + 0.29252079129219055, + 7.910269737243652 + ], + [ + 0.3016359210014343, + 0.2928710877895355, + 7.910268783569336 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|1", + "object_info": { + "name": "Pencil|surface|2|1", + "position": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.286396503448486 + }, + "rotation": { + "x": 0.00017100651166401803, + "y": 2.691403722110408e-07, + "z": -0.00030758854700252414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.427536487579346, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|1", + "assetId": "Pencil_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088304758072, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.2447662353515625 + ] + ], + "center": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.289886951446533 + }, + "size": { + "x": 0.009455233812332153, + "y": 0.00945514440536499, + "z": 0.0902414321899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088006734848, + 0.08824886381626129, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824890851974487, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824918419122696, + 7.2447662353515625 + ], + [ + 0.2162088006734848, + 0.08824913203716278, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770424664020538, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770429879426956, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770456701517105, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770451486110687, + 7.2447662353515625 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.982281684875488 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.705505609512329, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.408247947692871 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.978139877319336 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 4.408248424530029 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 4.408248424530029 + ] + ] + } + } + }, + { + "objectId": "Painting|2|6", + "object_info": { + "name": "Painting|2|6", + "position": { + "x": 3.4889817237854004, + "y": 1.601880669593811, + "z": 8.460004806518555 + }, + "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": 4.81886625289917, + "objectType": "Painting", + "objectId": "Painting|2|6", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.950185537338257, + 1.9252064228057861, + 8.460000038146973 + ], + [ + 3.950185537338257, + 1.9252064228057861, + 8.42825984954834 + ], + [ + 3.950185537338257, + 1.278554916381836, + 8.460000038146973 + ], + [ + 3.950185537338257, + 1.278554916381836, + 8.42825984954834 + ], + [ + 3.027777910232544, + 1.9252064228057861, + 8.460000038146973 + ], + [ + 3.027777910232544, + 1.9252064228057861, + 8.42825984954834 + ], + [ + 3.027777910232544, + 1.278554916381836, + 8.460000038146973 + ], + [ + 3.027777910232544, + 1.278554916381836, + 8.42825984954834 + ] + ], + "center": { + "x": 3.4889817237854004, + "y": 1.601880669593811, + "z": 8.444129943847656 + }, + "size": { + "x": 0.9224076271057129, + "y": 0.6466515064239502, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Newspaper|surface|2|9", + "object_info": { + "name": "Newspaper|surface|2|9", + "position": { + "x": 1.7696359157562256, + "y": 0.4760534167289734, + "z": 7.6458210945129395 + }, + "rotation": { + "x": 359.03692626953125, + "y": 180.00201416015625, + "z": -4.851103199143836e-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": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.039692401885986, + "objectType": "Newspaper", + "objectId": "Newspaper|surface|2|9", + "assetId": "Newspaper_5", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.957139492034912, + 0.5014916658401489, + 7.743921279907227 + ], + [ + 1.957139492034912, + 0.5014916658401489, + 7.5470123291015625 + ], + [ + 1.957139492034912, + 0.47125041484832764, + 7.743921279907227 + ], + [ + 1.957139492034912, + 0.47125041484832764, + 7.5470123291015625 + ], + [ + 1.582132339477539, + 0.5014916658401489, + 7.743921279907227 + ], + [ + 1.582132339477539, + 0.5014916658401489, + 7.5470123291015625 + ], + [ + 1.582132339477539, + 0.47125041484832764, + 7.743921279907227 + ], + [ + 1.582132339477539, + 0.47125041484832764, + 7.5470123291015625 + ] + ], + "center": { + "x": 1.7696359157562256, + "y": 0.4863710403442383, + "z": 7.6454668045043945 + }, + "size": { + "x": 0.37500715255737305, + "y": 0.03024125099182129, + "z": 0.19690895080566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5821315050125122, + 0.4712587594985962, + 7.5465168952941895 + ], + [ + 1.9571332931518555, + 0.4712587594985962, + 7.546504020690918 + ], + [ + 1.9571402072906494, + 0.4679412543773651, + 7.743852138519287 + ], + [ + 1.5821385383605957, + 0.4679412543773651, + 7.743865489959717 + ], + [ + 1.5821316242218018, + 0.5048007369041443, + 7.547080993652344 + ], + [ + 1.9571332931518555, + 0.5048007965087891, + 7.547067642211914 + ], + [ + 1.9571402072906494, + 0.5014832615852356, + 7.744416236877441 + ], + [ + 1.5821385383605957, + 0.5014832615852356, + 7.744429111480713 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0999999046325684, + "y": 0.9009997844696045, + "z": 4.0 + }, + "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": 3.0999999046325684, + "y": 1.5759997367858887, + "z": 4.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Pencil|surface|2|1", + "Plate|surface|2|2", + "RemoteControl|surface|2|5", + "Television|2|0|1", + "TVStand|2|0|0", + "TVStand|2|0|0___0", + "ArmChair|2|4|0" + ], + "different_object": [ + "door|1|2", + "Newspaper|surface|2|9", + "Sofa|2|2", + "Painting|2|6", + "RemoteControl|surface|2|7", + "Laptop|surface|2|10", + "CellPhone|surface|2|6", + "Bowl|surface|2|4", + "Painting|2|7", + "Book|surface|2|11", + "Pillow|surface|2|8" + ] +} \ No newline at end of file diff --git a/train/train1340/2/1_depth_npy.npy b/train/train1340/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ae9f4b095d7a72852c2f5b89ab084f0ab8cbf4c --- /dev/null +++ b/train/train1340/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c667885ad0dc96b3473250cd2d22bdbd1bf59e5a1523347302b9eb68ce00fd9c +size 3145856 diff --git a/train/train1340/2/1_semantic_sensor_npy.npy b/train/train1340/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3c74602cb0eb5b7d3c0504914f790c5346076e18 --- /dev/null +++ b/train/train1340/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c10f943f61743bda9b08cc3f9e6dfe123e4a175d0c4cab5cc3d90e886285e3b2 +size 2359424 diff --git a/train/train1340/2/depth_0.png b/train/train1340/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1126e0ff19543fbecb951c679ab1b172a43a7a33 Binary files /dev/null and b/train/train1340/2/depth_0.png differ diff --git a/train/train1340/2/depth_1.png b/train/train1340/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d58d12a81f137563918232c0ff57150748e69bda Binary files /dev/null and b/train/train1340/2/depth_1.png differ diff --git a/train/train1340/2/mask_questions.jsonl b/train/train1340/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d57a83d4652f9c97dcbfe8045f683a439b9c609 --- /dev/null +++ b/train/train1340/2/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 4867, "folder_dir": "train1340/2", "pair_name": "1-0:window|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. Window\nB. DiningTable\nC. Pillow\nD. Book", "answer": "A", "object_name": "Window", "image_1": "train1340/2/rgb_1.png", "image_2": "train1340/2/rgb_0.png", "mask_image": "train1340/2/rgb_0_mask_window|2|1.png", "options": ["Window", "DiningTable", "Pillow", "Book"]} +{"id": 4868, "folder_dir": "train1340/2", "pair_name": "1-0:Television|2|0|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. Book\nC. DiningTable\nD. Newspaper", "answer": "A", "object_name": "Television", "image_1": "train1340/2/rgb_1.png", "image_2": "train1340/2/rgb_0.png", "mask_image": "train1340/2/rgb_0_mask_Television|2|0|1.png", "options": ["Television", "Book", "DiningTable", "Newspaper"]} +{"id": 4869, "folder_dir": "train1340/2", "pair_name": "1-0:ArmChair|2|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. ArmChair\nB. Painting\nC. Pillow\nD. DiningTable", "answer": "A", "object_name": "ArmChair", "image_1": "train1340/2/rgb_1.png", "image_2": "train1340/2/rgb_0.png", "mask_image": "train1340/2/rgb_0_mask_ArmChair|2|4|0.png", "options": ["ArmChair", "Painting", "Pillow", "DiningTable"]} diff --git a/train/train1340/2/rgb_0.png b/train/train1340/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9d054d58a810d23ecf8d8143f139e23597055607 --- /dev/null +++ b/train/train1340/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2f1b07cf73e552d3ccab9afd6c25f6e07d6b68ac65f1911a5fe34a5ac7df775 +size 726929 diff --git a/train/train1340/2/rgb_0_mask_ArmChair|2|4|0.png b/train/train1340/2/rgb_0_mask_ArmChair|2|4|0.png new file mode 100644 index 0000000000000000000000000000000000000000..e7f5e7e82bd4e6d2dda139a5e16f717b1ab0be76 --- /dev/null +++ b/train/train1340/2/rgb_0_mask_ArmChair|2|4|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23d766a273145210ff70c451e5124ed706c0374905e634b30475df7178afb6c1 +size 590422 diff --git a/train/train1340/2/rgb_0_mask_Television|2|0|1.png b/train/train1340/2/rgb_0_mask_Television|2|0|1.png new file mode 100644 index 0000000000000000000000000000000000000000..dfb3b5d636ef1560636ff78f4ed3a5677322a04f --- /dev/null +++ b/train/train1340/2/rgb_0_mask_Television|2|0|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:981a8a4cb97996c19e2e5997e2f45ac7e9c05dc80a1fae92d0f07683ec6b5839 +size 643059 diff --git a/train/train1340/2/rgb_0_mask_window|2|1.png b/train/train1340/2/rgb_0_mask_window|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..f80b4d6b4e1962cce7cbf5cbe68b046c916bd29a --- /dev/null +++ b/train/train1340/2/rgb_0_mask_window|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cb4f8f85a339cbcda098df1b4702b8a50e1bf735c86cf66a402ba6d1bb2a97e +size 645084 diff --git a/train/train1340/2/rgb_1.png b/train/train1340/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ccdf52d9eae3b1cf41cbd45db34a188c4b2d707d --- /dev/null +++ b/train/train1340/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29d4bfd3daf4133ded0b24999c94f6a13469ca8376d0a22d50df77dd12d21a76 +size 534525 diff --git a/train/train1340/2/semantic_0.png b/train/train1340/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b9dd7413ed719c14bd6f886398426c8636cff3dd Binary files /dev/null and b/train/train1340/2/semantic_0.png differ diff --git a/train/train1340/2/semantic_1.png b/train/train1340/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c84dbc06299fa5142509e2a48ac7985c75e1c33a Binary files /dev/null and b/train/train1340/2/semantic_1.png differ diff --git a/train/train1340/3/0.json b/train/train1340/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..49aeefbbf2b5da8cb455ec89862e27a1de31cbef --- /dev/null +++ b/train/train1340/3/0.json @@ -0,0 +1,2541 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|2|2", + "object_info": { + "name": "Plate|surface|2|2", + "position": { + "x": 0.21148361265659332, + "y": 0.2742435932159424, + "z": 7.2863311767578125 + }, + "rotation": { + "x": -9.96881155401752e-08, + "y": 7.34229470253922e-05, + "z": 2.0053571461176034e-06 + }, + "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": [ + "Television|2|0|1", + "TVStand|2|0|0", + "Pencil|surface|2|12" + ], + "distance": 4.398014068603516, + "objectType": "Plate", + "objectId": "Plate|surface|2|2", + "assetId": "Plate_19", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31138360500335693, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.18623161315918 + ] + ], + "center": { + "x": 0.2112836092710495, + "y": 0.28458261489868164, + "z": 7.2863311767578125 + }, + "size": { + "x": 0.20019999146461487, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3113837242126465, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113837242126465, + 0.2969161570072174, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.296916127204895, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.296916127204895, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.2969161570072174, + 7.18623161315918 + ] + ] + } + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|2|2", + "object_info": { + "name": "Sofa|2|2", + "position": { + "x": 2.3583626747131348, + "y": 0.005489140748977661, + "z": 7.908266544342041 + }, + "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": [ + "Laptop|surface|2|10", + "RemoteControl|surface|2|7", + "Newspaper|surface|2|9", + "Pillow|surface|2|8" + ], + "distance": 4.271592140197754, + "objectType": "Sofa", + "objectId": "Sofa|2|2", + "assetId": "Sofa_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7061548233032227, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 7.366266250610352 + ] + ], + "center": { + "x": 2.3541359901428223, + "y": 0.39700156450271606, + "z": 7.903130054473877 + }, + "size": { + "x": 2.704037666320801, + "y": 0.7939980030059814, + "z": 1.0737276077270508 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 8.439994812011719 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|5", + "object_info": { + "name": "RemoteControl|surface|2|5", + "position": { + "x": 0.25122785568237305, + "y": 0.27233099937438965, + "z": 7.434545040130615 + }, + "rotation": { + "x": -3.2016512705013156e-05, + "y": 89.99983978271484, + "z": 359.9407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.496104717254639, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|5", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.34851008653640747, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.4139556884765625 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.28122320771217346, + "z": 7.434530258178711 + }, + "size": { + "x": 0.19456446170806885, + "y": 0.017953813076019287, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34851038455963135, + 0.2722315788269043, + 7.413974761962891 + ], + [ + 0.3485102653503418, + 0.27227407693862915, + 7.455115795135498 + ], + [ + 0.15394532680511475, + 0.2722739577293396, + 7.45511531829834 + ], + [ + 0.1539454460144043, + 0.27223145961761475, + 7.413974285125732 + ], + [ + 0.34851038455963135, + 0.29017242789268494, + 7.413956165313721 + ], + [ + 0.3485102653503418, + 0.2902149260044098, + 7.455097198486328 + ], + [ + 0.15394531190395355, + 0.2902148365974426, + 7.45509672164917 + ], + [ + 0.1539454311132431, + 0.2901723086833954, + 7.4139556884765625 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|6", + "object_info": { + "name": "CellPhone|surface|2|6", + "position": { + "x": 0.13199366629123688, + "y": 0.08899959921836853, + "z": 7.879273891448975 + }, + "rotation": { + "x": -1.6251909983111545e-05, + "y": 0.00011230607196921483, + "z": -0.0012345575960353017 + }, + "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": 4.956228733062744, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|6", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1761598140001297, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.7900071144104 + ] + ], + "center": { + "x": 0.13199375569820404, + "y": 0.09335862100124359, + "z": 7.880053997039795 + }, + "size": { + "x": 0.08833211660385132, + "y": 0.010221049189567566, + "z": 0.18009376525878906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17615960538387299, + 0.08824808895587921, + 7.970100402832031 + ], + [ + 0.08782805502414703, + 0.08824999630451202, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824994415044785, + 7.790007591247559 + ], + [ + 0.17615924775600433, + 0.08824803680181503, + 7.7900071144104 + ], + [ + 0.1761598289012909, + 0.09846728295087814, + 7.970100402832031 + ], + [ + 0.08782827854156494, + 0.09846919029951096, + 7.9701008796691895 + ], + [ + 0.08782792091369629, + 0.09846913814544678, + 7.790007591247559 + ], + [ + 0.17615947127342224, + 0.09846723079681396, + 7.7900071144104 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|surface|2|4", + "object_info": { + "name": "Bowl|surface|2|4", + "position": { + "x": 0.2512280344963074, + "y": 0.2760404050350189, + "z": 7.730989456176758 + }, + "rotation": { + "x": -0.0002101374266203493, + "y": 9.746619616635144e-05, + "z": 0.00014548475155606866 + }, + "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": 4.741593837738037, + "objectType": "Bowl", + "objectId": "Bowl|surface|2|4", + "assetId": "Bowl_11", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3524439334869385, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.630138397216797 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.3097141981124878, + "z": 7.730989456176758 + }, + "size": { + "x": 0.20243215560913086, + "y": 0.07493054866790771, + "z": 0.20170211791992188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.35244452953338623, + 0.2722497582435608, + 7.831840515136719 + ], + [ + 0.15001180768013, + 0.2722492516040802, + 7.831840991973877 + ], + [ + 0.15001145005226135, + 0.2722485065460205, + 7.630138397216797 + ], + [ + 0.3524441719055176, + 0.2722490131855011, + 7.630137920379639 + ], + [ + 0.3524443507194519, + 0.3471798300743103, + 7.831840515136719 + ], + [ + 0.15001161396503448, + 0.3471792936325073, + 7.831840515136719 + ], + [ + 0.15001127123832703, + 0.34717857837677, + 7.630137920379639 + ], + [ + 0.35244399309158325, + 0.3471790552139282, + 7.6301374435424805 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|0", + "object_info": { + "name": "CellPhone|surface|2|0", + "position": { + "x": 0.27918827533721924, + "y": 0.6329560875892639, + "z": 1.7817189693450928 + }, + "rotation": { + "x": -1.7365708117722534e-05, + "y": 9.167503594653681e-05, + "z": -0.0017125100130215287 + }, + "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": 3.170313596725464, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|0", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3160116672515869, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.7108731269836426 + ] + ], + "center": { + "x": 0.2791883945465088, + "y": 0.6369199156761169, + "z": 1.7813042402267456 + }, + "size": { + "x": 0.07364654541015625, + "y": 0.008381962776184082, + "z": 0.14086222648620605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3160114288330078, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236533045768738, + 0.6327311396598816, + 1.8517353534698486 + ], + [ + 0.24236510694026947, + 0.6327310800552368, + 1.7108732461929321 + ], + [ + 0.3160111904144287, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6411087512969971, + 1.8517353534698486 + ], + [ + 0.24236558377742767, + 0.6411109566688538, + 1.8517353534698486 + ], + [ + 0.24236536026000977, + 0.641110897064209, + 1.7108732461929321 + ], + [ + 0.3160114586353302, + 0.6411086916923523, + 1.7108731269836426 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|11", + "object_info": { + "name": "Book|surface|2|11", + "position": { + "x": 0.2114790827035904, + "y": 0.2724092900753021, + "z": 8.027426719665527 + }, + "rotation": { + "x": 359.9937744140625, + "y": 0.00026707403594627976, + "z": 0.1117301732301712 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 5.013541221618652, + "objectType": "Book", + "objectId": "Book|surface|2|11", + "assetId": "RoboTHOR_book_ai2_1_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 7.910268783569336 + ] + ], + "center": { + "x": 0.2118556797504425, + "y": 0.2823987305164337, + "z": 8.027425765991211 + }, + "size": { + "x": 0.17964309453964233, + "y": 0.020993530750274658, + "z": 0.23431396484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.2722751200199127, + 8.14458179473877 + ], + [ + 0.12203618884086609, + 0.27192479372024536, + 8.144582748413086 + ], + [ + 0.12203509360551834, + 0.27189934253692627, + 7.910271644592285 + ], + [ + 0.3016761243343353, + 0.27224966883659363, + 7.910271167755127 + ], + [ + 0.3016369938850403, + 0.2928965389728546, + 8.144579887390137 + ], + [ + 0.1219959706068039, + 0.29254621267318726, + 8.144580841064453 + ], + [ + 0.12199488282203674, + 0.29252079129219055, + 7.910269737243652 + ], + [ + 0.3016359210014343, + 0.2928710877895355, + 7.910268783569336 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|1", + "object_info": { + "name": "Pencil|surface|2|1", + "position": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.286396503448486 + }, + "rotation": { + "x": 0.00017100651166401803, + "y": 2.691403722110408e-07, + "z": -0.00030758854700252414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.427536487579346, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|1", + "assetId": "Pencil_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088304758072, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.2447662353515625 + ] + ], + "center": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.289886951446533 + }, + "size": { + "x": 0.009455233812332153, + "y": 0.00945514440536499, + "z": 0.0902414321899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088006734848, + 0.08824886381626129, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824890851974487, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824918419122696, + 7.2447662353515625 + ], + [ + 0.2162088006734848, + 0.08824913203716278, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770424664020538, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770429879426956, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770456701517105, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770451486110687, + 7.2447662353515625 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1", + "object_info": { + "name": "DiningTable|2|1", + "position": { + "x": 0.52500319480896, + "y": -0.00032138824462890625, + "z": 1.4306435585021973 + }, + "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": [ + "CellPhone|surface|2|0", + "CreditCard|surface|2|3" + ], + "distance": 3.338024139404297, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.025004267692566, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 0.02500128746032715 + ] + ], + "center": { + "x": 0.52500319480896, + "y": 0.31636613607406616, + "z": 1.4306435585021973 + }, + "size": { + "x": 1.000002145767212, + "y": 0.6327284574508667, + "z": 2.8112845420837402 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0250036716461182, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250036716461182, + 0.6327301263809204, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 0.6327301263809204, + 0.025002479553222656 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.982281684875488 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.705505609512329, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.408247947692871 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.978139877319336 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 4.408248424530029 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 4.408248424530029 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.5120254755020142, + "y": -0.0028765201568603516, + "z": 3.8572609424591064 + }, + "rotation": { + "x": 0.0023968329187482595, + "y": 55.364139556884766, + "z": 0.039815761148929596 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.415994167327881, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930765748023987, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.7930765748023987, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 3.5769729614257812 + ] + ], + "center": { + "x": 0.5081034302711487, + "y": 0.9391114115715027, + "z": 3.861851215362549 + }, + "size": { + "x": 0.5699462890625, + "y": 1.87910795211792, + "z": 0.5697565078735352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8719737529754639, + -0.0001088273711502552, + 3.793118953704834 + ], + [ + 0.5782931447029114, + -0.00046790228225290775, + 4.218263626098633 + ], + [ + 0.15314579010009766, + -0.00044628651812672615, + 3.9245810508728027 + ], + [ + 0.44682639837265015, + -8.72116070240736e-05, + 3.499436378479004 + ], + [ + 0.8712964057922363, + 1.8787143230438232, + 3.7942378520965576 + ], + [ + 0.5776157379150391, + 1.8783552646636963, + 4.219382286071777 + ], + [ + 0.15246838331222534, + 1.878376841545105, + 3.9257001876831055 + ], + [ + 0.44614899158477783, + 1.878735899925232, + 3.5005555152893066 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|2|3", + "object_info": { + "name": "CreditCard|surface|2|3", + "position": { + "x": 0.5250034332275391, + "y": 0.6330747604370117, + "z": 2.4838674068450928 + }, + "rotation": { + "x": 0.00010029497934738174, + "y": 5.31862533534877e-05, + "z": -0.00028568675043061376 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.5740017890930176, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|3", + "assetId": "CreditCard_1", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.4568681716918945 + ] + ], + "center": { + "x": 0.5250034332275391, + "y": 0.6349747776985168, + "z": 2.4838674068450928 + }, + "size": { + "x": 0.08616471290588379, + "y": 0.0044901371002197266, + "z": 0.053998470306396484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192110657691956, + 0.6327301263809204, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.63273024559021, + 2.4568681716918945 + ], + [ + 0.5680857300758362, + 0.6327298283576965, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372193098068237, + 2.510866641998291 + ], + [ + 0.48192113637924194, + 0.6372197270393372, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372194290161133, + 2.4568681716918945 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0999999046325684, + "y": 0.9009997844696045, + "z": 4.0 + }, + "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": 3.0999999046325684, + "y": 1.5759997367858887, + "z": 4.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Sofa|2|2", + "Pencil|surface|2|1", + "Plate|surface|2|2", + "RemoteControl|surface|2|5", + "Television|2|0|1", + "CellPhone|surface|2|6", + "TVStand|2|0|0", + "Bowl|surface|2|4", + "Book|surface|2|11", + "TVStand|2|0|0___0" + ], + "different_object": [ + "CreditCard|surface|2|3", + "FloorLamp|2|4|1", + "CellPhone|surface|2|0", + "DiningTable|2|1", + "ArmChair|2|4|0" + ] +} \ No newline at end of file diff --git a/train/train1340/3/0_depth_npy.npy b/train/train1340/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3df5d57d8c1b6e93365a55862149e254c39afdc0 --- /dev/null +++ b/train/train1340/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fce7472faa77d89f96a5f9cbaa4adf1173fbc052e025a1ad426803786a218b70 +size 3145856 diff --git a/train/train1340/3/0_semantic_sensor_npy.npy b/train/train1340/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4d2b82b11da6321a16342b8e5ec1f576a263c6f3 --- /dev/null +++ b/train/train1340/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55b79404fab201e6f175bc570bdc5cd4423f145b682c4e5f3ff160524b410719 +size 2359424 diff --git a/train/train1340/3/1.json b/train/train1340/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..db7a65e66640dd18b565da6e7099427e72156689 --- /dev/null +++ b/train/train1340/3/1.json @@ -0,0 +1,2719 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|2|2", + "object_info": { + "name": "Plate|surface|2|2", + "position": { + "x": 0.21148361265659332, + "y": 0.2742435932159424, + "z": 7.2863311767578125 + }, + "rotation": { + "x": -9.96881155401752e-08, + "y": 7.34229470253922e-05, + "z": 2.0053571461176034e-06 + }, + "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": [ + "Television|2|0|1", + "TVStand|2|0|0", + "Pencil|surface|2|12" + ], + "distance": 4.398014068603516, + "objectType": "Plate", + "objectId": "Plate|surface|2|2", + "assetId": "Plate_19", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31138360500335693, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.18623161315918 + ] + ], + "center": { + "x": 0.2112836092710495, + "y": 0.28458261489868164, + "z": 7.2863311767578125 + }, + "size": { + "x": 0.20019999146461487, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3113837242126465, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113837242126465, + 0.2969161570072174, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.296916127204895, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.296916127204895, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.2969161570072174, + 7.18623161315918 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 4.231997489929199, + "y": -0.0005984306335449219, + "z": 7.205163478851318 + }, + "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": 3.866180419921875, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.3351287841796875, + 2.1049137115478516, + 7.206760406494141 + ], + [ + 4.3351287841796875, + 2.1049137115478516, + 5.213194847106934 + ], + [ + 4.3351287841796875, + -2.384185791015625e-07, + 7.206760406494141 + ], + [ + 4.3351287841796875, + -2.384185791015625e-07, + 5.213194847106934 + ], + [ + 4.128871917724609, + 2.1049137115478516, + 7.206760406494141 + ], + [ + 4.128871917724609, + 2.1049137115478516, + 5.213194847106934 + ], + [ + 4.128871917724609, + -2.384185791015625e-07, + 7.206760406494141 + ], + [ + 4.128871917724609, + -2.384185791015625e-07, + 5.213194847106934 + ] + ], + "center": { + "x": 4.232000350952148, + "y": 1.0524567365646362, + "z": 6.209977626800537 + }, + "size": { + "x": 0.20625686645507812, + "y": 2.1049139499664307, + "z": 1.993565559387207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 3.246455669403076, + "y": 0.5398647785186768, + "z": 7.5515546798706055 + }, + "rotation": { + "x": -4.1318835997117276e-07, + "y": 180.0, + "z": -1.333004320258624e-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": 3.8508057594299316, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4307637214660645, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.4307637214660645, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.47125065326690674, + 7.709601402282715 + ], + [ + 3.4307637214660645, + 0.47125065326690674, + 7.393507957458496 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.0449838638305664, + 0.47125065326690674, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.47125065326690674, + 7.393507957458496 + ] + ], + "center": { + "x": 3.2378737926483154, + "y": 0.5398647785186768, + "z": 7.5515546798706055 + }, + "size": { + "x": 0.38577985763549805, + "y": 0.13722825050354004, + "z": 0.31609344482421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0449838638305664, + 0.4712506830692291, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.4712506830692291, + 7.393507957458496 + ], + [ + 3.4307639598846436, + 0.4712506830692291, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.4712506830692291, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307637214660645, + 0.6084789037704468, + 7.393507957458496 + ], + [ + 3.4307639598846436, + 0.6084789037704468, + 7.709601402282715 + ], + [ + 3.0449838638305664, + 0.6084789037704468, + 7.709601402282715 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|2|10", + "object_info": { + "name": "Laptop|surface|2|10", + "position": { + "x": 2.6557271480560303, + "y": 0.47125059366226196, + "z": 7.8339104652404785 + }, + "rotation": { + "x": 1.8519562217989005e-05, + "y": 180.0, + "z": -0.00011839794751722366 + }, + "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": 4.107541561126709, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|10", + "assetId": "Laptop_4", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.8319036960601807, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.8319036960601807, + 0.5082831978797913, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.47125017642974854, + 7.970415115356445 + ], + [ + 2.8319036960601807, + 0.47125017642974854, + 7.699281692504883 + ], + [ + 2.47955060005188, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.5082831978797913, + 7.699281692504883 + ], + [ + 2.47955060005188, + 0.47125017642974854, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.47125017642974854, + 7.699281692504883 + ] + ], + "center": { + "x": 2.6557271480560303, + "y": 0.4897666871547699, + "z": 7.834848403930664 + }, + "size": { + "x": 0.3523530960083008, + "y": 0.037033021450042725, + "z": 0.2711334228515625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.47955060005188, + 0.47125017642974854, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.4712509214878082, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.4712510108947754, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.4712502658367157, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.5082823634147644, + 7.699281692504883 + ], + [ + 2.8319034576416016, + 0.5082831382751465, + 7.699281692504883 + ], + [ + 2.8319036960601807, + 0.5082831978797913, + 7.970415115356445 + ], + [ + 2.47955060005188, + 0.508282482624054, + 7.970415115356445 + ] + ] + } + } + }, + { + "objectId": "Sofa|2|2", + "object_info": { + "name": "Sofa|2|2", + "position": { + "x": 2.3583626747131348, + "y": 0.005489140748977661, + "z": 7.908266544342041 + }, + "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": [ + "Laptop|surface|2|10", + "RemoteControl|surface|2|7", + "Newspaper|surface|2|9", + "Pillow|surface|2|8" + ], + "distance": 4.271592140197754, + "objectType": "Sofa", + "objectId": "Sofa|2|2", + "assetId": "Sofa_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7061548233032227, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 7.366266250610352 + ] + ], + "center": { + "x": 2.3541359901428223, + "y": 0.39700156450271606, + "z": 7.903130054473877 + }, + "size": { + "x": 2.704037666320801, + "y": 0.7939980030059814, + "z": 1.0737276077270508 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 8.439994812011719 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|5", + "object_info": { + "name": "RemoteControl|surface|2|5", + "position": { + "x": 0.25122785568237305, + "y": 0.27233099937438965, + "z": 7.434545040130615 + }, + "rotation": { + "x": -3.2016512705013156e-05, + "y": 89.99983978271484, + "z": 359.9407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.496104717254639, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|5", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.34851008653640747, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.4139556884765625 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.28122320771217346, + "z": 7.434530258178711 + }, + "size": { + "x": 0.19456446170806885, + "y": 0.017953813076019287, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34851038455963135, + 0.2722315788269043, + 7.413974761962891 + ], + [ + 0.3485102653503418, + 0.27227407693862915, + 7.455115795135498 + ], + [ + 0.15394532680511475, + 0.2722739577293396, + 7.45511531829834 + ], + [ + 0.1539454460144043, + 0.27223145961761475, + 7.413974285125732 + ], + [ + 0.34851038455963135, + 0.29017242789268494, + 7.413956165313721 + ], + [ + 0.3485102653503418, + 0.2902149260044098, + 7.455097198486328 + ], + [ + 0.15394531190395355, + 0.2902148365974426, + 7.45509672164917 + ], + [ + 0.1539454311132431, + 0.2901723086833954, + 7.4139556884765625 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|7", + "object_info": { + "name": "RemoteControl|surface|2|7", + "position": { + "x": 2.0649936199188232, + "y": 0.4713324308395386, + "z": 7.928028106689453 + }, + "rotation": { + "x": -6.0967751778662205e-05, + "y": 179.99974060058594, + "z": 359.9427795410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.255557060241699, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|7", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.085554599761963, + 0.4892013669013977, + 8.025310516357422 + ], + [ + 2.085554599761963, + 0.4892013669013977, + 7.830745697021484 + ], + [ + 2.085554599761963, + 0.47124791145324707, + 8.025310516357422 + ], + [ + 2.085554599761963, + 0.47124791145324707, + 7.830745697021484 + ], + [ + 2.044404983520508, + 0.4892013669013977, + 8.025310516357422 + ], + [ + 2.044404983520508, + 0.4892013669013977, + 7.830745697021484 + ], + [ + 2.044404983520508, + 0.47124791145324707, + 8.025310516357422 + ], + [ + 2.044404983520508, + 0.47124791145324707, + 7.830745697021484 + ] + ], + "center": { + "x": 2.0649797916412354, + "y": 0.4802246391773224, + "z": 7.928028106689453 + }, + "size": { + "x": 0.04114961624145508, + "y": 0.017953455448150635, + "z": 0.1945648193359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0444235801696777, + 0.4712337553501129, + 7.830745697021484 + ], + [ + 2.085564613342285, + 0.47127485275268555, + 7.830745697021484 + ], + [ + 2.0855636596679688, + 0.47127464413642883, + 8.025310516357422 + ], + [ + 2.0444226264953613, + 0.4712335467338562, + 8.025310516357422 + ], + [ + 2.044405698776245, + 0.48917460441589355, + 7.830745697021484 + ], + [ + 2.0855467319488525, + 0.4892157018184662, + 7.830745697021484 + ], + [ + 2.085545778274536, + 0.4892154932022095, + 8.025310516357422 + ], + [ + 2.0444047451019287, + 0.48917442560195923, + 8.025310516357422 + ] + ] + } + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 2.057117223739624, + "y": 1.9743480682373047, + "z": 8.459127426147461 + }, + "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": 4.8793487548828125, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.435427665710449, + 2.3477015495300293, + 8.460000038146973 + ], + [ + 2.435427665710449, + 2.3477015495300293, + 8.444001197814941 + ], + [ + 2.435427665710449, + 1.6018950939178467, + 8.460000038146973 + ], + [ + 2.435427665710449, + 1.6018950939178467, + 8.444001197814941 + ], + [ + 1.6787185668945312, + 2.3477015495300293, + 8.460000038146973 + ], + [ + 1.6787185668945312, + 2.3477015495300293, + 8.444001197814941 + ], + [ + 1.6787185668945312, + 1.6018950939178467, + 8.460000038146973 + ], + [ + 1.6787185668945312, + 1.6018950939178467, + 8.444001197814941 + ] + ], + "center": { + "x": 2.0570731163024902, + "y": 1.974798321723938, + "z": 8.452000617980957 + }, + "size": { + "x": 0.756709098815918, + "y": 0.7458064556121826, + "z": 0.01599884033203125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|2|6", + "object_info": { + "name": "CellPhone|surface|2|6", + "position": { + "x": 0.13199366629123688, + "y": 0.08899959921836853, + "z": 7.879273891448975 + }, + "rotation": { + "x": -1.6251909983111545e-05, + "y": 0.00011230607196921483, + "z": -0.0012345575960353017 + }, + "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": 4.956228733062744, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|6", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1761598140001297, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.7900071144104 + ] + ], + "center": { + "x": 0.13199375569820404, + "y": 0.09335862100124359, + "z": 7.880053997039795 + }, + "size": { + "x": 0.08833211660385132, + "y": 0.010221049189567566, + "z": 0.18009376525878906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17615960538387299, + 0.08824808895587921, + 7.970100402832031 + ], + [ + 0.08782805502414703, + 0.08824999630451202, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824994415044785, + 7.790007591247559 + ], + [ + 0.17615924775600433, + 0.08824803680181503, + 7.7900071144104 + ], + [ + 0.1761598289012909, + 0.09846728295087814, + 7.970100402832031 + ], + [ + 0.08782827854156494, + 0.09846919029951096, + 7.9701008796691895 + ], + [ + 0.08782792091369629, + 0.09846913814544678, + 7.790007591247559 + ], + [ + 0.17615947127342224, + 0.09846723079681396, + 7.7900071144104 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|surface|2|4", + "object_info": { + "name": "Bowl|surface|2|4", + "position": { + "x": 0.2512280344963074, + "y": 0.2760404050350189, + "z": 7.730989456176758 + }, + "rotation": { + "x": -0.0002101374266203493, + "y": 9.746619616635144e-05, + "z": 0.00014548475155606866 + }, + "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": 4.741593837738037, + "objectType": "Bowl", + "objectId": "Bowl|surface|2|4", + "assetId": "Bowl_11", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3524439334869385, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.630138397216797 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.3097141981124878, + "z": 7.730989456176758 + }, + "size": { + "x": 0.20243215560913086, + "y": 0.07493054866790771, + "z": 0.20170211791992188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.35244452953338623, + 0.2722497582435608, + 7.831840515136719 + ], + [ + 0.15001180768013, + 0.2722492516040802, + 7.831840991973877 + ], + [ + 0.15001145005226135, + 0.2722485065460205, + 7.630138397216797 + ], + [ + 0.3524441719055176, + 0.2722490131855011, + 7.630137920379639 + ], + [ + 0.3524443507194519, + 0.3471798300743103, + 7.831840515136719 + ], + [ + 0.15001161396503448, + 0.3471792936325073, + 7.831840515136719 + ], + [ + 0.15001127123832703, + 0.34717857837677, + 7.630137920379639 + ], + [ + 0.35244399309158325, + 0.3471790552139282, + 7.6301374435424805 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|11", + "object_info": { + "name": "Book|surface|2|11", + "position": { + "x": 0.2114790827035904, + "y": 0.2724092900753021, + "z": 8.027426719665527 + }, + "rotation": { + "x": 359.9937744140625, + "y": 0.00026707403594627976, + "z": 0.1117301732301712 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 5.013541221618652, + "objectType": "Book", + "objectId": "Book|surface|2|11", + "assetId": "RoboTHOR_book_ai2_1_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 7.910268783569336 + ] + ], + "center": { + "x": 0.2118556797504425, + "y": 0.2823987305164337, + "z": 8.027425765991211 + }, + "size": { + "x": 0.17964309453964233, + "y": 0.020993530750274658, + "z": 0.23431396484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.2722751200199127, + 8.14458179473877 + ], + [ + 0.12203618884086609, + 0.27192479372024536, + 8.144582748413086 + ], + [ + 0.12203509360551834, + 0.27189934253692627, + 7.910271644592285 + ], + [ + 0.3016761243343353, + 0.27224966883659363, + 7.910271167755127 + ], + [ + 0.3016369938850403, + 0.2928965389728546, + 8.144579887390137 + ], + [ + 0.1219959706068039, + 0.29254621267318726, + 8.144580841064453 + ], + [ + 0.12199488282203674, + 0.29252079129219055, + 7.910269737243652 + ], + [ + 0.3016359210014343, + 0.2928710877895355, + 7.910268783569336 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|1", + "object_info": { + "name": "Pencil|surface|2|1", + "position": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.286396503448486 + }, + "rotation": { + "x": 0.00017100651166401803, + "y": 2.691403722110408e-07, + "z": -0.00030758854700252414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.427536487579346, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|1", + "assetId": "Pencil_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088304758072, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.2447662353515625 + ] + ], + "center": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.289886951446533 + }, + "size": { + "x": 0.009455233812332153, + "y": 0.00945514440536499, + "z": 0.0902414321899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088006734848, + 0.08824886381626129, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824890851974487, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824918419122696, + 7.2447662353515625 + ], + [ + 0.2162088006734848, + 0.08824913203716278, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770424664020538, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770429879426956, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770456701517105, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770451486110687, + 7.2447662353515625 + ] + ] + } + } + }, + { + "objectId": "Painting|2|6", + "object_info": { + "name": "Painting|2|6", + "position": { + "x": 3.4889817237854004, + "y": 1.601880669593811, + "z": 8.460004806518555 + }, + "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": 4.81886625289917, + "objectType": "Painting", + "objectId": "Painting|2|6", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.950185537338257, + 1.9252064228057861, + 8.460000038146973 + ], + [ + 3.950185537338257, + 1.9252064228057861, + 8.42825984954834 + ], + [ + 3.950185537338257, + 1.278554916381836, + 8.460000038146973 + ], + [ + 3.950185537338257, + 1.278554916381836, + 8.42825984954834 + ], + [ + 3.027777910232544, + 1.9252064228057861, + 8.460000038146973 + ], + [ + 3.027777910232544, + 1.9252064228057861, + 8.42825984954834 + ], + [ + 3.027777910232544, + 1.278554916381836, + 8.460000038146973 + ], + [ + 3.027777910232544, + 1.278554916381836, + 8.42825984954834 + ] + ], + "center": { + "x": 3.4889817237854004, + "y": 1.601880669593811, + "z": 8.444129943847656 + }, + "size": { + "x": 0.9224076271057129, + "y": 0.6466515064239502, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Newspaper|surface|2|9", + "object_info": { + "name": "Newspaper|surface|2|9", + "position": { + "x": 1.7696359157562256, + "y": 0.4760534167289734, + "z": 7.6458210945129395 + }, + "rotation": { + "x": 359.03692626953125, + "y": 180.00201416015625, + "z": -4.851103199143836e-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": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.039692401885986, + "objectType": "Newspaper", + "objectId": "Newspaper|surface|2|9", + "assetId": "Newspaper_5", + "parentReceptacles": [ + "Floor", + "Sofa|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.957139492034912, + 0.5014916658401489, + 7.743921279907227 + ], + [ + 1.957139492034912, + 0.5014916658401489, + 7.5470123291015625 + ], + [ + 1.957139492034912, + 0.47125041484832764, + 7.743921279907227 + ], + [ + 1.957139492034912, + 0.47125041484832764, + 7.5470123291015625 + ], + [ + 1.582132339477539, + 0.5014916658401489, + 7.743921279907227 + ], + [ + 1.582132339477539, + 0.5014916658401489, + 7.5470123291015625 + ], + [ + 1.582132339477539, + 0.47125041484832764, + 7.743921279907227 + ], + [ + 1.582132339477539, + 0.47125041484832764, + 7.5470123291015625 + ] + ], + "center": { + "x": 1.7696359157562256, + "y": 0.4863710403442383, + "z": 7.6454668045043945 + }, + "size": { + "x": 0.37500715255737305, + "y": 0.03024125099182129, + "z": 0.19690895080566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5821315050125122, + 0.4712587594985962, + 7.5465168952941895 + ], + [ + 1.9571332931518555, + 0.4712587594985962, + 7.546504020690918 + ], + [ + 1.9571402072906494, + 0.4679412543773651, + 7.743852138519287 + ], + [ + 1.5821385383605957, + 0.4679412543773651, + 7.743865489959717 + ], + [ + 1.5821316242218018, + 0.5048007369041443, + 7.547080993652344 + ], + [ + 1.9571332931518555, + 0.5048007965087891, + 7.547067642211914 + ], + [ + 1.9571402072906494, + 0.5014832615852356, + 7.744416236877441 + ], + [ + 1.5821385383605957, + 0.5014832615852356, + 7.744429111480713 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 4.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 4.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Sofa|2|2", + "Pencil|surface|2|1", + "Plate|surface|2|2", + "RemoteControl|surface|2|5", + "Television|2|0|1", + "CellPhone|surface|2|6", + "TVStand|2|0|0", + "Bowl|surface|2|4", + "Book|surface|2|11", + "TVStand|2|0|0___0" + ], + "different_object": [ + "door|1|2", + "Newspaper|surface|2|9", + "Painting|2|6", + "RemoteControl|surface|2|7", + "Laptop|surface|2|10", + "Painting|2|7", + "Pillow|surface|2|8" + ] +} \ No newline at end of file diff --git a/train/train1340/3/1_depth_npy.npy b/train/train1340/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..34de42720e35cf7a2c6a54e055db606fbb75bab8 --- /dev/null +++ b/train/train1340/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42a4ee507fad87ce822a39269451bfd431959c9ec1b30b509a1c9157f3d2e5ee +size 3145856 diff --git a/train/train1340/3/1_semantic_sensor_npy.npy b/train/train1340/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0ce800f871a1972deb53b982c730b0b5f1611dd7 --- /dev/null +++ b/train/train1340/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de5678f677e7971204e4d574b99d021eb1c37d69a87c5f39128933c8e4df6231 +size 2359424 diff --git a/train/train1340/3/depth_0.png b/train/train1340/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..993657e3df92783c9d0d45c97faf272db60b97e8 Binary files /dev/null and b/train/train1340/3/depth_0.png differ diff --git a/train/train1340/3/depth_1.png b/train/train1340/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..46fc44ed50b455d71d93cab01862040b4a184340 Binary files /dev/null and b/train/train1340/3/depth_1.png differ diff --git a/train/train1340/3/mask_questions.jsonl b/train/train1340/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f2573f4c6120e6a7c86530981314b536f5e1ead --- /dev/null +++ b/train/train1340/3/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 4861, "folder_dir": "train1340/3", "pair_name": "0-1:window|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. Window\nB. ArmChair\nC. FloorLamp\nD. DiningTable", "answer": "A", "object_name": "Window", "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/rgb_1.png", "mask_image": "train1340/3/rgb_1_mask_window|2|1.png", "options": ["Window", "ArmChair", "FloorLamp", "DiningTable"]} +{"id": 4862, "folder_dir": "train1340/3", "pair_name": "1-0:window|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. DiningTable\nB. Window\nC. RemoteControl\nD. Laptop", "answer": "B", "object_name": "Window", "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/rgb_0.png", "mask_image": "train1340/3/rgb_0_mask_window|2|1.png", "options": ["DiningTable", "Window", "RemoteControl", "Laptop"]} +{"id": 4863, "folder_dir": "train1340/3", "pair_name": "1-0:Television|2|0|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. Laptop\nB. Television\nC. RemoteControl\nD. DiningTable", "answer": "B", "object_name": "Television", "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/rgb_0.png", "mask_image": "train1340/3/rgb_0_mask_Television|2|0|1.png", "options": ["Laptop", "Television", "RemoteControl", "DiningTable"]} diff --git a/train/train1340/3/questions_direction.jsonl b/train/train1340/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a50a79eba493a4f084b76cb300dd671630742f57 --- /dev/null +++ b/train/train1340/3/questions_direction.jsonl @@ -0,0 +1,18 @@ +{"id": 8229, "folder_dir": "train1340/3", "pair_name": "DiningTable-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DiningTable. 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": "DiningTable", "tgt_object": "Doorway", "src_com": {"x": 0.52500319480896, "y": 0.31636613607406616, "z": 1.4306435585021973}, "tgt_com": {"x": 4.232000350952148, "y": 1.0524567365646362, "z": 6.209977626800537}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8230, "folder_dir": "train1340/3", "pair_name": "DiningTable-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DiningTable. Where is the centroid position of Pillow 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": "DiningTable", "tgt_object": "Pillow", "src_com": {"x": 0.52500319480896, "y": 0.31636613607406616, "z": 1.4306435585021973}, "tgt_com": {"x": 3.2378737926483154, "y": 0.5398647785186768, "z": 7.5515546798706055}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8231, "folder_dir": "train1340/3", "pair_name": "DiningTable-Laptop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DiningTable. Where is the centroid position of Laptop 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": "DiningTable", "tgt_object": "Laptop", "src_com": {"x": 0.52500319480896, "y": 0.31636613607406616, "z": 1.4306435585021973}, "tgt_com": {"x": 2.6557271480560303, "y": 0.4897666871547699, "z": 7.834848403930664}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8232, "folder_dir": "train1340/3", "pair_name": "DiningTable-Newspaper", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DiningTable. Where is the centroid position of Newspaper 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": "DiningTable", "tgt_object": "Newspaper", "src_com": {"x": 0.52500319480896, "y": 0.31636613607406616, "z": 1.4306435585021973}, "tgt_com": {"x": 1.7696359157562256, "y": 0.4863710403442383, "z": 7.6454668045043945}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8233, "folder_dir": "train1340/3", "pair_name": "ArmChair-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of Pillow 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": "ArmChair", "tgt_object": "Pillow", "src_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.978139877319336}, "tgt_com": {"x": 3.2378737926483154, "y": 0.5398647785186768, "z": 7.5515546798706055}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8234, "folder_dir": "train1340/3", "pair_name": "ArmChair-Laptop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of Laptop 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": "ArmChair", "tgt_object": "Laptop", "src_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.978139877319336}, "tgt_com": {"x": 2.6557271480560303, "y": 0.4897666871547699, "z": 7.834848403930664}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8235, "folder_dir": "train1340/3", "pair_name": "ArmChair-Newspaper", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of Newspaper 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": "ArmChair", "tgt_object": "Newspaper", "src_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.978139877319336}, "tgt_com": {"x": 1.7696359157562256, "y": 0.4863710403442383, "z": 7.6454668045043945}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8236, "folder_dir": "train1340/3", "pair_name": "FloorLamp-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. 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": "FloorLamp", "tgt_object": "Doorway", "src_com": {"x": 0.5081034302711487, "y": 0.9391114115715027, "z": 3.861851215362549}, "tgt_com": {"x": 4.232000350952148, "y": 1.0524567365646362, "z": 6.209977626800537}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8237, "folder_dir": "train1340/3", "pair_name": "FloorLamp-Newspaper", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Newspaper 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": "FloorLamp", "tgt_object": "Newspaper", "src_com": {"x": 0.5081034302711487, "y": 0.9391114115715027, "z": 3.861851215362549}, "tgt_com": {"x": 1.7696359157562256, "y": 0.4863710403442383, "z": 7.6454668045043945}, "agent_pos": {"x": 3.0999999046325684, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/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": 8238, "folder_dir": "train1340/3", "pair_name": "Doorway-DiningTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of DiningTable 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": "DiningTable", "src_com": {"x": 4.232000350952148, "y": 1.0524567365646362, "z": 6.209977626800537}, "tgt_com": {"x": 0.52500319480896, "y": 0.31636613607406616, "z": 1.4306435585021973}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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": 8239, "folder_dir": "train1340/3", "pair_name": "Doorway-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. 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": "B", "src_object": "Doorway", "tgt_object": "FloorLamp", "src_com": {"x": 4.232000350952148, "y": 1.0524567365646362, "z": 6.209977626800537}, "tgt_com": {"x": 0.5081034302711487, "y": 0.9391114115715027, "z": 3.861851215362549}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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": 8240, "folder_dir": "train1340/3", "pair_name": "Pillow-DiningTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of DiningTable 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": "Pillow", "tgt_object": "DiningTable", "src_com": {"x": 3.2378737926483154, "y": 0.5398647785186768, "z": 7.5515546798706055}, "tgt_com": {"x": 0.52500319480896, "y": 0.31636613607406616, "z": 1.4306435585021973}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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": 8241, "folder_dir": "train1340/3", "pair_name": "Pillow-ArmChair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of ArmChair 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": "Pillow", "tgt_object": "ArmChair", "src_com": {"x": 3.2378737926483154, "y": 0.5398647785186768, "z": 7.5515546798706055}, "tgt_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.978139877319336}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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": 8242, "folder_dir": "train1340/3", "pair_name": "Laptop-DiningTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of DiningTable 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": "Laptop", "tgt_object": "DiningTable", "src_com": {"x": 2.6557271480560303, "y": 0.4897666871547699, "z": 7.834848403930664}, "tgt_com": {"x": 0.52500319480896, "y": 0.31636613607406616, "z": 1.4306435585021973}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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": 8243, "folder_dir": "train1340/3", "pair_name": "Laptop-ArmChair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of ArmChair 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": "Laptop", "tgt_object": "ArmChair", "src_com": {"x": 2.6557271480560303, "y": 0.4897666871547699, "z": 7.834848403930664}, "tgt_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.978139877319336}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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": 8244, "folder_dir": "train1340/3", "pair_name": "Newspaper-DiningTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Newspaper. Where is the centroid position of DiningTable 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": "Newspaper", "tgt_object": "DiningTable", "src_com": {"x": 1.7696359157562256, "y": 0.4863710403442383, "z": 7.6454668045043945}, "tgt_com": {"x": 0.52500319480896, "y": 0.31636613607406616, "z": 1.4306435585021973}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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": 8245, "folder_dir": "train1340/3", "pair_name": "Newspaper-ArmChair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Newspaper. Where is the centroid position of ArmChair 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": "Newspaper", "tgt_object": "ArmChair", "src_com": {"x": 1.7696359157562256, "y": 0.4863710403442383, "z": 7.6454668045043945}, "tgt_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.978139877319336}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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": 8246, "folder_dir": "train1340/3", "pair_name": "Newspaper-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Newspaper. 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": "A", "src_object": "Newspaper", "tgt_object": "FloorLamp", "src_com": {"x": 1.7696359157562256, "y": 0.4863710403442383, "z": 7.6454668045043945}, "tgt_com": {"x": 0.5081034302711487, "y": 0.9391114115715027, "z": 3.861851215362549}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 4.0}, "image_1": "train1340/3/rgb_1.png", "image_2": "train1340/3/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/train1340/3/questions_distance.jsonl b/train/train1340/3/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c58e6b4eca3d82f9e1e8de7132494f8ffdfd074 --- /dev/null +++ b/train/train1340/3/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1970, "folder_dir": "train1340/3", "query": "Which of the following objects is closest to Window 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. ArmChair\nB. Plate\nC. Television\nD. Other\n", "answer": "C", "src_object": "Window", "target_object": "Television", "question": "Which of the following objects is closest to Window 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": "ArmChair", "semantic_id": "ArmChair|2|4|0", "distance": 1.7171054486395814, "com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.978139877319336}}, {"text": "Plate", "semantic_id": "Plate|surface|2|2", "distance": 1.6064781097097522, "com": {"x": 0.2112836092710495, "y": 0.28458261489868164, "z": 7.2863311767578125}}, {"text": "Television", "semantic_id": "Television|2|0|1", "distance": 1.4201409505152913, "com": {"x": 0.20993827283382416, "y": 1.0551341772079468, "z": 7.5885090827941895}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/rgb_1.png"} +{"id": 1971, "folder_dir": "train1340/3", "query": "Which of the following objects is closest to Television 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. Book\nC. Bowl\nD. Other\n", "answer": "C", "src_object": "Television", "target_object": "Bowl", "question": "Which of the following objects is closest to Television 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|2|2", "distance": 0.8276853309101884, "com": {"x": 0.2112836092710495, "y": 0.28458261489868164, "z": 7.2863311767578125}}, {"text": "Book", "semantic_id": "Book|surface|2|11", "distance": 0.8886909484244174, "com": {"x": 0.2118556797504425, "y": 0.2823987305164337, "z": 8.027425765991211}}, {"text": "Bowl", "semantic_id": "Bowl|surface|2|4", "distance": 0.7600371252022613, "com": {"x": 0.25122785568237305, "y": 0.3097141981124878, "z": 7.730989456176758}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1340/3/rgb_0.png", "image_2": "train1340/3/rgb_1.png"} diff --git a/train/train1340/3/rgb_0.png b/train/train1340/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dffd52ac069fd36854da83fe1845054bdac28cd0 --- /dev/null +++ b/train/train1340/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33f68cfb271c233129c3228ebc70c965d5679c0d28dfee11e9abeda379e5141e +size 637675 diff --git a/train/train1340/3/rgb_0_mask_Television|2|0|1.png b/train/train1340/3/rgb_0_mask_Television|2|0|1.png new file mode 100644 index 0000000000000000000000000000000000000000..ae99c8b34f730af596a1446705fdab416fe139a7 --- /dev/null +++ b/train/train1340/3/rgb_0_mask_Television|2|0|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07608ea3867f497043056895263995a1d4c05e96b549713d885715c035740fe0 +size 551540 diff --git a/train/train1340/3/rgb_0_mask_window|2|1.png b/train/train1340/3/rgb_0_mask_window|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..c559ba2a8292af776396b0001faebd467e5a37f6 --- /dev/null +++ b/train/train1340/3/rgb_0_mask_window|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe53bd3e83c88d279bd650265290742bef2f603d4ae91c381ba127c2808f15f +size 522412 diff --git a/train/train1340/3/rgb_1.png b/train/train1340/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..026a4bc579fa17ba52553068f99ff199080ef5b6 --- /dev/null +++ b/train/train1340/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38e36d15345310b820371bc22c910c60e75f2d8a6cfd84e97cc15d88195832ab +size 411600 diff --git a/train/train1340/3/rgb_1_mask_window|2|1.png b/train/train1340/3/rgb_1_mask_window|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..8c99d71176912672fb94e13c77540a1287224eeb --- /dev/null +++ b/train/train1340/3/rgb_1_mask_window|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a79d32dfa6f08c5da16c70e8713085b8f0b6c3d102d69f4822a075dc49391c18 +size 352349 diff --git a/train/train1340/3/semantic_0.png b/train/train1340/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5d8addf1e0d1c11b741e0c971266e31be2a657d8 Binary files /dev/null and b/train/train1340/3/semantic_0.png differ diff --git a/train/train1340/3/semantic_1.png b/train/train1340/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a5636efeba490a6c23756b33a2a205b73df356ea Binary files /dev/null and b/train/train1340/3/semantic_1.png differ diff --git a/train/train1340/4/0.json b/train/train1340/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..395f83e5fdef91d38cc71a777c682e3d56561b1d --- /dev/null +++ b/train/train1340/4/0.json @@ -0,0 +1,2541 @@ +{ + "object": [ + { + "objectId": "TVStand|2|0|0", + "object_info": { + "name": "TVStand|2|0|0", + "position": { + "x": 0.21148249506950378, + "y": 0.0009346157312393188, + "z": 7.588495254516602 + }, + "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": [ + "Pencil|surface|2|12", + "Television|2|0|1" + ], + "distance": 4.68916130065918, + "objectType": "TVStand", + "objectId": "TVStand|2|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3948765993118286, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.3948765993118286, + 2.384185791015625e-07, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 0.45024925470352173, + 6.969606399536133 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 8.20741081237793 + ], + [ + 0.024999916553497314, + 2.384185791015625e-07, + 6.969606399536133 + ] + ], + "center": { + "x": 0.20993825793266296, + "y": 0.22512474656105042, + "z": 7.588508605957031 + }, + "size": { + "x": 0.3698766827583313, + "y": 0.4502490162849426, + "z": 1.2378044128417969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3948763608932495, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 2.682209014892578e-07, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 2.682209014892578e-07, + 6.969606876373291 + ], + [ + 0.3948763608932495, + 0.4502490758895874, + 6.969606876373291 + ], + [ + 0.39487648010253906, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500016987323761, + 0.4502490758895874, + 8.20741081237793 + ], + [ + 0.02500005066394806, + 0.4502490758895874, + 6.969606876373291 + ] + ] + } + } + }, + { + "objectId": "Television|2|0|1", + "object_info": { + "name": "Television|2|0|1", + "position": { + "x": 0.1617119014263153, + "y": 1.1328290700912476, + "z": 7.5885090827941895 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.635421276092529, + "objectType": "Television", + "objectId": "Television|2|0|1", + "assetId": "Television_27", + "parentReceptacles": [ + "Floor", + "Plate|surface|2|2", + "TVStand|2|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2660062909126282, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.2660062909126282, + 0.4502493143081665, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 1.660019040107727, + 6.737017631530762 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 8.440000534057617 + ], + [ + 0.15387025475502014, + 0.4502493143081665, + 6.737017631530762 + ] + ], + "center": { + "x": 0.20993827283382416, + "y": 1.0551341772079468, + "z": 7.5885090827941895 + }, + "size": { + "x": 0.11213603615760803, + "y": 1.2097697257995605, + "z": 1.7029829025268555 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|2|2", + "object_info": { + "name": "Plate|surface|2|2", + "position": { + "x": 0.21148361265659332, + "y": 0.2742435932159424, + "z": 7.2863311767578125 + }, + "rotation": { + "x": -9.96881155401752e-08, + "y": 7.34229470253922e-05, + "z": 2.0053571461176034e-06 + }, + "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": [ + "Television|2|0|1", + "TVStand|2|0|0", + "Pencil|surface|2|12" + ], + "distance": 4.398014068603516, + "objectType": "Plate", + "objectId": "Plate|surface|2|2", + "assetId": "Plate_19", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31138360500335693, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.31138360500335693, + 0.2722492218017578, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.29691600799560547, + 7.18623161315918 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.386430740356445 + ], + [ + 0.11118361353874207, + 0.2722492218017578, + 7.18623161315918 + ] + ], + "center": { + "x": 0.2112836092710495, + "y": 0.28458261489868164, + "z": 7.2863311767578125 + }, + "size": { + "x": 0.20019999146461487, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3113837242126465, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.27224916219711304, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.27224916219711304, + 7.18623161315918 + ], + [ + 0.3113837242126465, + 0.2969161570072174, + 7.386430740356445 + ], + [ + 0.11118374019861221, + 0.296916127204895, + 7.386430740356445 + ], + [ + 0.11118348687887192, + 0.296916127204895, + 7.18623161315918 + ], + [ + 0.3113834857940674, + 0.2969161570072174, + 7.18623161315918 + ] + ] + } + } + }, + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 4.951361916027963e-07, + "y": 0.7098212242126465, + "z": 5.8238749504089355 + }, + "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": 3.4496381282806396, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Hung_32x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.288882255554199, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 2.288882255554199, + 5.822954177856445 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 6.688811302185059 + ], + [ + 0.1212821826338768, + 0.7087039947509766, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 2.288882255554199, + 5.822954177856445 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 6.688811302185059 + ], + [ + -0.12128222733736038, + 0.7087039947509766, + 5.822954177856445 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.498793125152588, + "z": 6.255882740020752 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658571243286133 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|2|2", + "object_info": { + "name": "Sofa|2|2", + "position": { + "x": 2.3583626747131348, + "y": 0.005489140748977661, + "z": 7.908266544342041 + }, + "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": [ + "Laptop|surface|2|10", + "RemoteControl|surface|2|7", + "Newspaper|surface|2|9", + "Pillow|surface|2|8" + ], + "distance": 4.271592140197754, + "objectType": "Sofa", + "objectId": "Sofa|2|2", + "assetId": "Sofa_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7061548233032227, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 3.7061548233032227, + 2.562999725341797e-06, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 0.7940005660057068, + 7.366266250610352 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 8.439993858337402 + ], + [ + 1.0021171569824219, + 2.562999725341797e-06, + 7.366266250610352 + ] + ], + "center": { + "x": 2.3541359901428223, + "y": 0.39700156450271606, + "z": 7.903130054473877 + }, + "size": { + "x": 2.704037666320801, + "y": 0.7939980030059814, + "z": 1.0737276077270508 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 2.5331974029541016e-06, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 7.36626672744751 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 7.366266250610352 + ], + [ + 3.7061545848846436, + 0.7940008640289307, + 8.439994812011719 + ], + [ + 1.0021169185638428, + 0.7940008640289307, + 8.439994812011719 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|5", + "object_info": { + "name": "RemoteControl|surface|2|5", + "position": { + "x": 0.25122785568237305, + "y": 0.27233099937438965, + "z": 7.434545040130615 + }, + "rotation": { + "x": -3.2016512705013156e-05, + "y": 89.99983978271484, + "z": 359.9407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.496104717254639, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|5", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.34851008653640747, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.34851008653640747, + 0.2722463011741638, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2902001142501831, + 7.4139556884765625 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.455104827880859 + ], + [ + 0.15394562482833862, + 0.2722463011741638, + 7.4139556884765625 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.28122320771217346, + "z": 7.434530258178711 + }, + "size": { + "x": 0.19456446170806885, + "y": 0.017953813076019287, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34851038455963135, + 0.2722315788269043, + 7.413974761962891 + ], + [ + 0.3485102653503418, + 0.27227407693862915, + 7.455115795135498 + ], + [ + 0.15394532680511475, + 0.2722739577293396, + 7.45511531829834 + ], + [ + 0.1539454460144043, + 0.27223145961761475, + 7.413974285125732 + ], + [ + 0.34851038455963135, + 0.29017242789268494, + 7.413956165313721 + ], + [ + 0.3485102653503418, + 0.2902149260044098, + 7.455097198486328 + ], + [ + 0.15394531190395355, + 0.2902148365974426, + 7.45509672164917 + ], + [ + 0.1539454311132431, + 0.2901723086833954, + 7.4139556884765625 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|6", + "object_info": { + "name": "CellPhone|surface|2|6", + "position": { + "x": 0.13199366629123688, + "y": 0.08899959921836853, + "z": 7.879273891448975 + }, + "rotation": { + "x": -1.6251909983111545e-05, + "y": 0.00011230607196921483, + "z": -0.0012345575960353017 + }, + "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": 4.956228733062744, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|6", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1761598140001297, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.1761598140001297, + 0.08824809640645981, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.09846914559602737, + 7.7900071144104 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824809640645981, + 7.7900071144104 + ] + ], + "center": { + "x": 0.13199375569820404, + "y": 0.09335862100124359, + "z": 7.880053997039795 + }, + "size": { + "x": 0.08833211660385132, + "y": 0.010221049189567566, + "z": 0.18009376525878906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17615960538387299, + 0.08824808895587921, + 7.970100402832031 + ], + [ + 0.08782805502414703, + 0.08824999630451202, + 7.9701008796691895 + ], + [ + 0.08782769739627838, + 0.08824994415044785, + 7.790007591247559 + ], + [ + 0.17615924775600433, + 0.08824803680181503, + 7.7900071144104 + ], + [ + 0.1761598289012909, + 0.09846728295087814, + 7.970100402832031 + ], + [ + 0.08782827854156494, + 0.09846919029951096, + 7.9701008796691895 + ], + [ + 0.08782792091369629, + 0.09846913814544678, + 7.790007591247559 + ], + [ + 0.17615947127342224, + 0.09846723079681396, + 7.7900071144104 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.21148371696472168, + "y": 0.2684445381164551, + "z": 7.588493347167969 + }, + "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|2|2", + "Book|surface|2|11", + "RemoteControl|surface|2|5", + "Bowl|surface|2|4" + ], + "distance": 4.645236492156982, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766877055168152, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.3766877055168152, + 0.26823681592941284, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.3674442172050476, + 6.9874420166015625 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 8.189544677734375 + ], + [ + 0.046279728412628174, + 0.26823681592941284, + 6.9874420166015625 + ] + ], + "center": { + "x": 0.21148371696472168, + "y": 0.3178405165672302, + "z": 7.588493347167969 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920740127563477, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|2|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 0.2114812731742859, + "y": 0.08263473212718964, + "z": 7.588558197021484 + }, + "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": [ + "CellPhone|surface|2|6", + "Pencil|surface|2|1" + ], + "distance": 4.674219608306885, + "objectType": "DiningTable", + "objectId": "TVStand|2|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3766852617263794, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.3766852617263794, + 0.08242693543434143, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.18163445591926575, + 6.987506866455078 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 8.18960952758789 + ], + [ + 0.04627728462219238, + 0.08242693543434143, + 6.987506866455078 + ] + ], + "center": { + "x": 0.2114812731742859, + "y": 0.1320306956768036, + "z": 7.588558197021484 + }, + "size": { + "x": 0.330407977104187, + "y": 0.09920752048492432, + "z": 1.2021026611328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|surface|2|4", + "object_info": { + "name": "Bowl|surface|2|4", + "position": { + "x": 0.2512280344963074, + "y": 0.2760404050350189, + "z": 7.730989456176758 + }, + "rotation": { + "x": -0.0002101374266203493, + "y": 9.746619616635144e-05, + "z": 0.00014548475155606866 + }, + "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": 4.741593837738037, + "objectType": "Bowl", + "objectId": "Bowl|surface|2|4", + "assetId": "Bowl_11", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3524439334869385, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.3524439334869385, + 0.27224892377853394, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.34717947244644165, + 7.630138397216797 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.831840515136719 + ], + [ + 0.15001177787780762, + 0.27224892377853394, + 7.630138397216797 + ] + ], + "center": { + "x": 0.25122785568237305, + "y": 0.3097141981124878, + "z": 7.730989456176758 + }, + "size": { + "x": 0.20243215560913086, + "y": 0.07493054866790771, + "z": 0.20170211791992188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.35244452953338623, + 0.2722497582435608, + 7.831840515136719 + ], + [ + 0.15001180768013, + 0.2722492516040802, + 7.831840991973877 + ], + [ + 0.15001145005226135, + 0.2722485065460205, + 7.630138397216797 + ], + [ + 0.3524441719055176, + 0.2722490131855011, + 7.630137920379639 + ], + [ + 0.3524443507194519, + 0.3471798300743103, + 7.831840515136719 + ], + [ + 0.15001161396503448, + 0.3471792936325073, + 7.831840515136719 + ], + [ + 0.15001127123832703, + 0.34717857837677, + 7.630137920379639 + ], + [ + 0.35244399309158325, + 0.3471790552139282, + 7.6301374435424805 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|0", + "object_info": { + "name": "CellPhone|surface|2|0", + "position": { + "x": 0.27918827533721924, + "y": 0.6329560875892639, + "z": 1.7817189693450928 + }, + "rotation": { + "x": -1.7365708117722534e-05, + "y": 9.167503594653681e-05, + "z": -0.0017125100130215287 + }, + "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": 3.170313596725464, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|0", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3160116672515869, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.7108731269836426 + ] + ], + "center": { + "x": 0.2791883945465088, + "y": 0.6369199156761169, + "z": 1.7813042402267456 + }, + "size": { + "x": 0.07364654541015625, + "y": 0.008381962776184082, + "z": 0.14086222648620605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3160114288330078, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236533045768738, + 0.6327311396598816, + 1.8517353534698486 + ], + [ + 0.24236510694026947, + 0.6327310800552368, + 1.7108732461929321 + ], + [ + 0.3160111904144287, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6411087512969971, + 1.8517353534698486 + ], + [ + 0.24236558377742767, + 0.6411109566688538, + 1.8517353534698486 + ], + [ + 0.24236536026000977, + 0.641110897064209, + 1.7108732461929321 + ], + [ + 0.3160114586353302, + 0.6411086916923523, + 1.7108731269836426 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|11", + "object_info": { + "name": "Book|surface|2|11", + "position": { + "x": 0.2114790827035904, + "y": 0.2724092900753021, + "z": 8.027426719665527 + }, + "rotation": { + "x": 359.9937744140625, + "y": 0.00026707403594627976, + "z": 0.1117301732301712 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 5.013541221618652, + "objectType": "Book", + "objectId": "Book|surface|2|11", + "assetId": "RoboTHOR_book_ai2_1_v", + "parentReceptacles": [ + "TVStand|2|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.30167722702026367, + 0.2719019651412964, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.29289549589157104, + 7.910268783569336 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 8.144582748413086 + ], + [ + 0.12203413248062134, + 0.2719019651412964, + 7.910268783569336 + ] + ], + "center": { + "x": 0.2118556797504425, + "y": 0.2823987305164337, + "z": 8.027425765991211 + }, + "size": { + "x": 0.17964309453964233, + "y": 0.020993530750274658, + "z": 0.23431396484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.30167722702026367, + 0.2722751200199127, + 8.14458179473877 + ], + [ + 0.12203618884086609, + 0.27192479372024536, + 8.144582748413086 + ], + [ + 0.12203509360551834, + 0.27189934253692627, + 7.910271644592285 + ], + [ + 0.3016761243343353, + 0.27224966883659363, + 7.910271167755127 + ], + [ + 0.3016369938850403, + 0.2928965389728546, + 8.144579887390137 + ], + [ + 0.1219959706068039, + 0.29254621267318726, + 8.144580841064453 + ], + [ + 0.12199488282203674, + 0.29252079129219055, + 7.910269737243652 + ], + [ + 0.3016359210014343, + 0.2928710877895355, + 7.910268783569336 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|1", + "object_info": { + "name": "Pencil|surface|2|1", + "position": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.286396503448486 + }, + "rotation": { + "x": 0.00017100651166401803, + "y": 2.691403722110408e-07, + "z": -0.00030758854700252414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.427536487579346, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|1", + "assetId": "Pencil_4", + "parentReceptacles": [ + "TVStand|2|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088304758072, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.2162088304758072, + 0.08824914693832397, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.09770429134368896, + 7.2447662353515625 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.335007667541504 + ], + [ + 0.20675359666347504, + 0.08824914693832397, + 7.2447662353515625 + ] + ], + "center": { + "x": 0.2114812135696411, + "y": 0.09297671914100647, + "z": 7.289886951446533 + }, + "size": { + "x": 0.009455233812332153, + "y": 0.00945514440536499, + "z": 0.0902414321899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2162088006734848, + 0.08824886381626129, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824890851974487, + 7.335007667541504 + ], + [ + 0.20675356686115265, + 0.08824918419122696, + 7.2447662353515625 + ], + [ + 0.2162088006734848, + 0.08824913203716278, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770424664020538, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770429879426956, + 7.335008144378662 + ], + [ + 0.20675361156463623, + 0.09770456701517105, + 7.2447662353515625 + ], + [ + 0.21620886027812958, + 0.09770451486110687, + 7.2447662353515625 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1", + "object_info": { + "name": "DiningTable|2|1", + "position": { + "x": 0.52500319480896, + "y": -0.00032138824462890625, + "z": 1.4306435585021973 + }, + "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": [ + "CellPhone|surface|2|0", + "CreditCard|surface|2|3" + ], + "distance": 3.338024139404297, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.025004267692566, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 0.02500128746032715 + ] + ], + "center": { + "x": 0.52500319480896, + "y": 0.31636613607406616, + "z": 1.4306435585021973 + }, + "size": { + "x": 1.000002145767212, + "y": 0.6327284574508667, + "z": 2.8112845420837402 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0250036716461182, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250036716461182, + 0.6327301263809204, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 0.6327301263809204, + 0.025002479553222656 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.982281684875488 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.705505609512329, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.408247947692871 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 5.548031806945801 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.408247947692871 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.978139877319336 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 4.408248424530029 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 4.408248424530029 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 5.548031330108643 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 5.548031806945801 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 4.408248424530029 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.5120254755020142, + "y": -0.0028765201568603516, + "z": 3.8572609424591064 + }, + "rotation": { + "x": 0.0023968329187482595, + "y": 55.364139556884766, + "z": 0.039815761148929596 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.415994167327881, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930765748023987, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.7930765748023987, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.7930765748023987, + -0.0004425644874572754, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 4.146729469299316 + ], + [ + 0.22313028573989868, + 1.8786654472351074, + 3.5769729614257812 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 4.146729469299316 + ], + [ + 0.22313028573989868, + -0.0004425644874572754, + 3.5769729614257812 + ] + ], + "center": { + "x": 0.5081034302711487, + "y": 0.9391114115715027, + "z": 3.861851215362549 + }, + "size": { + "x": 0.5699462890625, + "y": 1.87910795211792, + "z": 0.5697565078735352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8719737529754639, + -0.0001088273711502552, + 3.793118953704834 + ], + [ + 0.5782931447029114, + -0.00046790228225290775, + 4.218263626098633 + ], + [ + 0.15314579010009766, + -0.00044628651812672615, + 3.9245810508728027 + ], + [ + 0.44682639837265015, + -8.72116070240736e-05, + 3.499436378479004 + ], + [ + 0.8712964057922363, + 1.8787143230438232, + 3.7942378520965576 + ], + [ + 0.5776157379150391, + 1.8783552646636963, + 4.219382286071777 + ], + [ + 0.15246838331222534, + 1.878376841545105, + 3.9257001876831055 + ], + [ + 0.44614899158477783, + 1.878735899925232, + 3.5005555152893066 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|2|3", + "object_info": { + "name": "CreditCard|surface|2|3", + "position": { + "x": 0.5250034332275391, + "y": 0.6330747604370117, + "z": 2.4838674068450928 + }, + "rotation": { + "x": 0.00010029497934738174, + "y": 5.31862533534877e-05, + "z": -0.00028568675043061376 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.5740017890930176, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|3", + "assetId": "CreditCard_1", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.568085789680481, + 0.632729709148407, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.632729709148407, + 2.4568681716918945 + ] + ], + "center": { + "x": 0.5250034332275391, + "y": 0.6349747776985168, + "z": 2.4838674068450928 + }, + "size": { + "x": 0.08616471290588379, + "y": 0.0044901371002197266, + "z": 0.053998470306396484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.568085789680481, + 0.632729709148407, + 2.510866641998291 + ], + [ + 0.48192110657691956, + 0.6327301263809204, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.63273024559021, + 2.4568681716918945 + ], + [ + 0.5680857300758362, + 0.6327298283576965, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372193098068237, + 2.510866641998291 + ], + [ + 0.48192113637924194, + 0.6372197270393372, + 2.510866641998291 + ], + [ + 0.48192107677459717, + 0.6372198462486267, + 2.4568681716918945 + ], + [ + 0.568085789680481, + 0.6372194290161133, + 2.4568681716918945 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.5, + "y": 0.9009997844696045, + "z": 4.300000190734863 + }, + "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": 3.5, + "y": 1.5759997367858887, + "z": 4.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "CellPhone|surface|2|0", + "DiningTable|2|1" + ], + "different_object": [ + "TVStand|2|0|0___1", + "window|2|1", + "Sofa|2|2", + "Pencil|surface|2|1", + "Plate|surface|2|2", + "FloorLamp|2|4|1", + "RemoteControl|surface|2|5", + "Television|2|0|1", + "CreditCard|surface|2|3", + "CellPhone|surface|2|6", + "TVStand|2|0|0", + "Bowl|surface|2|4", + "Book|surface|2|11", + "TVStand|2|0|0___0", + "ArmChair|2|4|0" + ] +} \ No newline at end of file diff --git a/train/train1340/4/0_depth_npy.npy b/train/train1340/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4d43691c58ee9db08efa159b2ead0c1a760b78d1 --- /dev/null +++ b/train/train1340/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb23c1880d018e9fdead92fa796fbeff2e92e4606010cb2c29514beaf5e92dc5 +size 3145856 diff --git a/train/train1340/4/0_semantic_sensor_npy.npy b/train/train1340/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ea47fe3ff8caa7399be9df27ff1578184551b290 --- /dev/null +++ b/train/train1340/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f51c67b8c63726cd19f1cf6847e140dd1d38f9012b33596bd9585bbea99188e +size 2359424 diff --git a/train/train1340/4/1.json b/train/train1340/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf572591023743812306db6fe315d1683282e6e --- /dev/null +++ b/train/train1340/4/1.json @@ -0,0 +1,727 @@ +{ + "object": [ + { + "objectId": "Painting|2|5", + "object_info": { + "name": "Painting|2|5", + "position": { + "x": 4.227004528045654, + "y": 1.2578575611114502, + "z": 3.9544742107391357 + }, + "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": 1.5331990718841553, + "objectType": "Painting", + "objectId": "Painting|2|5", + "assetId": "Wall_Decor_Photo_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.2270002365112305, + 1.545819640159607, + 4.358576774597168 + ], + [ + 4.2270002365112305, + 1.545819640159607, + 3.5503716468811035 + ], + [ + 4.2270002365112305, + 0.9698954820632935, + 4.358576774597168 + ], + [ + 4.2270002365112305, + 0.9698954820632935, + 3.5503716468811035 + ], + [ + 4.195259094238281, + 1.545819640159607, + 4.358576774597168 + ], + [ + 4.195259094238281, + 1.545819640159607, + 3.5503716468811035 + ], + [ + 4.195259094238281, + 0.9698954820632935, + 4.358576774597168 + ], + [ + 4.195259094238281, + 0.9698954820632935, + 3.5503716468811035 + ] + ], + "center": { + "x": 4.211129665374756, + "y": 1.2578575611114502, + "z": 3.9544742107391357 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.5759241580963135, + "z": 0.8082051277160645 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|2|3|0", + "object_info": { + "name": "HousePlant|2|3|0", + "position": { + "x": 3.0312623977661133, + "y": 0.003311946988105774, + "z": 0.1444200724363327 + }, + "rotation": { + "x": -7.705782627454028e-05, + "y": 91.09103393554688, + "z": 5.220703314989805e-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": 3.7262794971466064, + "objectType": "HousePlant", + "objectId": "HousePlant|2|3|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.159127712249756, + 0.8504120111465454, + 0.2621750235557556 + ], + [ + 3.159127712249756, + 0.8504120111465454, + 0.02729058265686035 + ], + [ + 3.159127712249756, + 1.430511474609375e-06, + 0.2621750235557556 + ], + [ + 3.159127712249756, + 1.430511474609375e-06, + 0.02729058265686035 + ], + [ + 2.9127273559570312, + 0.8504120111465454, + 0.2621750235557556 + ], + [ + 2.9127273559570312, + 0.8504120111465454, + 0.02729058265686035 + ], + [ + 2.9127273559570312, + 1.430511474609375e-06, + 0.2621750235557556 + ], + [ + 2.9127273559570312, + 1.430511474609375e-06, + 0.02729058265686035 + ] + ], + "center": { + "x": 3.0359275341033936, + "y": 0.42520672082901, + "z": 0.14473280310630798 + }, + "size": { + "x": 0.2464003562927246, + "y": 0.8504105806350708, + "z": 0.23488444089889526 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.155611038208008, + 1.5136320143938065e-06, + 0.025001704692840576 + ], + [ + 3.160079002380371, + 1.2998934835195541e-06, + 0.2596006691455841 + ], + [ + 2.9151039123535156, + 9.704381227493286e-07, + 0.26426613330841064 + ], + [ + 2.9106359481811523, + 1.184176653623581e-06, + 0.02966717630624771 + ], + [ + 3.1556100845336914, + 0.8504122495651245, + 0.02500249445438385 + ], + [ + 3.1600778102874756, + 0.8504120111465454, + 0.2596014738082886 + ], + [ + 2.91510272026062, + 0.8504116535186768, + 0.2642669081687927 + ], + [ + 2.910634994506836, + 0.8504118919372559, + 0.029667966067790985 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|0", + "object_info": { + "name": "CellPhone|surface|2|0", + "position": { + "x": 0.27918827533721924, + "y": 0.6329560875892639, + "z": 1.7817189693450928 + }, + "rotation": { + "x": -1.7365708117722534e-05, + "y": 9.167503594653681e-05, + "z": -0.0017125100130215287 + }, + "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": 3.170313596725464, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|0", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "DiningTable|2|1", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3160116672515869, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.3160116672515869, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.641110897064209, + 1.7108731269836426 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236512184143066, + 0.6327289342880249, + 1.7108731269836426 + ] + ], + "center": { + "x": 0.2791883945465088, + "y": 0.6369199156761169, + "z": 1.7813042402267456 + }, + "size": { + "x": 0.07364654541015625, + "y": 0.008381962776184082, + "z": 0.14086222648620605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3160114288330078, + 0.6327289342880249, + 1.8517353534698486 + ], + [ + 0.24236533045768738, + 0.6327311396598816, + 1.8517353534698486 + ], + [ + 0.24236510694026947, + 0.6327310800552368, + 1.7108732461929321 + ], + [ + 0.3160111904144287, + 0.6327289342880249, + 1.7108731269836426 + ], + [ + 0.3160116672515869, + 0.6411087512969971, + 1.8517353534698486 + ], + [ + 0.24236558377742767, + 0.6411109566688538, + 1.8517353534698486 + ], + [ + 0.24236536026000977, + 0.641110897064209, + 1.7108732461929321 + ], + [ + 0.3160114586353302, + 0.6411086916923523, + 1.7108731269836426 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|1", + "object_info": { + "name": "DiningTable|2|1", + "position": { + "x": 0.52500319480896, + "y": -0.00032138824462890625, + "z": 1.4306435585021973 + }, + "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": [ + "CellPhone|surface|2|0", + "CreditCard|surface|2|3" + ], + "distance": 3.338024139404297, + "objectType": "DiningTable", + "objectId": "DiningTable|2|1", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.025004267692566, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 1.025004267692566, + 1.9073486328125e-06, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 0.6327303647994995, + 0.02500128746032715 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 2.8362858295440674 + ], + [ + 0.025002121925354004, + 1.9073486328125e-06, + 0.02500128746032715 + ] + ], + "center": { + "x": 0.52500319480896, + "y": 0.31636613607406616, + "z": 1.4306435585021973 + }, + "size": { + "x": 1.000002145767212, + "y": 0.6327284574508667, + "z": 2.8112845420837402 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0250036716461182, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 2.0265579223632812e-06, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 2.0265579223632812e-06, + 0.025002479553222656 + ], + [ + 1.0250036716461182, + 0.6327301263809204, + 0.025002479553222656 + ], + [ + 1.0250039100646973, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.025002658367156982, + 0.6327301263809204, + 2.836284637451172 + ], + [ + 0.02500241994857788, + 0.6327301263809204, + 0.025002479553222656 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.164734840393066, + "y": 1.042765736579895, + "z": 5.289912223815918e-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": 4.010494709014893, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_36x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164951324462891, + 1.955949306488037, + 0.12104495614767075 + ], + [ + 4.164951324462891, + 1.955949306488037, + -0.12104495614767075 + ], + [ + 4.164951324462891, + 1.0426135063171387, + 0.12104495614767075 + ], + [ + 4.164951324462891, + 1.0426135063171387, + -0.12104495614767075 + ], + [ + 3.2006683349609375, + 1.955949306488037, + 0.12104495614767075 + ], + [ + 3.2006683349609375, + 1.955949306488037, + -0.12104495614767075 + ], + [ + 3.2006683349609375, + 1.0426135063171387, + 0.12104495614767075 + ], + [ + 3.2006683349609375, + 1.0426135063171387, + -0.12104495614767075 + ] + ], + "center": { + "x": 3.682809829711914, + "y": 1.499281406402588, + "z": 0.0 + }, + "size": { + "x": 0.9642829895019531, + "y": 0.9133358001708984, + "z": 0.2420899122953415 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.5, + "y": 0.9009997844696045, + "z": 4.199999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.5, + "y": 1.5759997367858887, + "z": 4.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "CellPhone|surface|2|0", + "DiningTable|2|1" + ], + "different_object": [ + "HousePlant|2|3|0", + "window|2|0", + "Painting|2|5" + ] +} \ No newline at end of file diff --git a/train/train1340/4/1_depth_npy.npy b/train/train1340/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..12a247ea22c52ed5f4aca28940339a84ec7ebc23 --- /dev/null +++ b/train/train1340/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8d38c3464098067ea0644d2ec57ba83bf74f0b9ee89f7f07fbb6ea7f9c5386d +size 3145856 diff --git a/train/train1340/4/1_semantic_sensor_npy.npy b/train/train1340/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a8a303a4ca9dfbdbcb4465cb1ff442a8b00fcb89 --- /dev/null +++ b/train/train1340/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dceba45aa2f2ac8ad37c1a7dabb2cd6a054fc519bc83c8e3ebe34182b322712 +size 2359424 diff --git a/train/train1340/4/depth_0.png b/train/train1340/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6b6c70ae4458ef2f02c25c9b81af51f770477f68 Binary files /dev/null and b/train/train1340/4/depth_0.png differ diff --git a/train/train1340/4/depth_1.png b/train/train1340/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6686cebbb69254cc7e343f4414247210979ea04c Binary files /dev/null and b/train/train1340/4/depth_1.png differ diff --git a/train/train1340/4/mask_questions.jsonl b/train/train1340/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1340/4/questions_distance.jsonl b/train/train1340/4/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50b75450ddba80670a6fea246ae5dbf3445e51e5 --- /dev/null +++ b/train/train1340/4/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1972, "folder_dir": "train1340/4", "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. HousePlant\nB. FloorLamp\nC. CreditCard\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "CreditCard", "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": "HousePlant", "semantic_id": "HousePlant|2|3|0", "distance": 2.823146078649458, "com": {"x": 3.0359275341033936, "y": 0.42520672082901, "z": 0.14473280310630798}}, {"text": "FloorLamp", "semantic_id": "FloorLamp|2|4|1", "distance": 2.509754559906648, "com": {"x": 0.5081034302711487, "y": 0.9391114115715027, "z": 3.861851215362549}}, {"text": "CreditCard", "semantic_id": "CreditCard|surface|2|3", "distance": 1.1003599144080327, "com": {"x": 0.5250034332275391, "y": 0.6349747776985168, "z": 2.4838674068450928}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1340/4/rgb_0.png", "image_2": "train1340/4/rgb_1.png"} diff --git a/train/train1340/4/rgb_0.png b/train/train1340/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4910391cf486a05e84ab03116ca1b828284d8452 --- /dev/null +++ b/train/train1340/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45b72c636fcde080807bcc73a42efdf1a5ba5e879be4ee7135ccdde7763486f5 +size 644393 diff --git a/train/train1340/4/rgb_1.png b/train/train1340/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..231a367eff354fe2c23d4be8938d78ed540c362e --- /dev/null +++ b/train/train1340/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5b2d1757de6b9e0ba06b79c29d082a715b8178bacb69e58ee26916258a26642 +size 258139 diff --git a/train/train1340/4/semantic_0.png b/train/train1340/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b2feb946c56105f471257f947eef272c176e356d Binary files /dev/null and b/train/train1340/4/semantic_0.png differ diff --git a/train/train1340/4/semantic_1.png b/train/train1340/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..aaacdc38a2d0dee585cf581575a152032430491b Binary files /dev/null and b/train/train1340/4/semantic_1.png differ diff --git a/train/train1340/color_to_object_id.json b/train/train1340/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..6a250fe58e5c96a9deb9e5235a9af2bf44e51033 --- /dev/null +++ b/train/train1340/color_to_object_id.json @@ -0,0 +1,786 @@ +[ + { + "window|2|1": [ + 44, + 193, + 100 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|2|0": [ + 226, + 232, + 42 + ] + }, + { + "door|1|2": [ + 41, + 237, + 95 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "Painting|2|7": [ + 86, + 38, + 34 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|2|6": [ + 189, + 42, + 23 + ] + }, + { + "Painting|2|5": [ + 70, + 151, + 180 + ] + }, + { + "FloorLamp|2|4|1": [ + 194, + 42, + 194 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "ArmChair|2|4|0": [ + 170, + 58, + 254 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "HousePlant|2|3|0": [ + 122, + 166, + 74 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "Laptop|surface|2|10": [ + 62, + 253, + 231 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Newspaper|surface|2|9": [ + 232, + 185, + 214 + ] + }, + { + "Newspaper": [ + 19, + 196, + 2 + ] + }, + { + "Pillow|surface|2|8": [ + 50, + 207, + 251 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "RemoteControl|surface|2|7": [ + 83, + 129, + 207 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Sofa|2|2": [ + 75, + 112, + 94 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "CreditCard|surface|2|3": [ + 219, + 204, + 66 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "CellPhone|surface|2|0": [ + 137, + 167, + 79 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "DiningTable|2|1": [ + 157, + 84, + 168 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Pencil|surface|2|12": [ + 214, + 181, + 250 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "Book|surface|2|11": [ + 139, + 187, + 11 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "CellPhone|surface|2|6": [ + 96, + 158, + 199 + ] + }, + { + "RemoteControl|surface|2|5": [ + 80, + 225, + 110 + ] + }, + { + "Bowl|surface|2|4": [ + 131, + 228, + 128 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "Plate|surface|2|2": [ + 23, + 214, + 45 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "Pencil|surface|2|1": [ + 148, + 149, + 19 + ] + }, + { + "Television|2|0|1": [ + 20, + 71, + 2 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TVStand|2|0|0___1": [ + 116, + 132, + 14 + ] + }, + { + "TVStand|2|0|0___0": [ + 125, + 185, + 96 + ] + }, + { + "TVStand|2|0|0": [ + 2, + 95, + 50 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Ceiling_room|2|0|4.634533|0": [ + 70, + 226, + 30 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.46": [ + 178, + 121, + 69 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|0.00|8.46|4.23|8.46": [ + 51, + 81, + 155 + ] + }, + { + "wall|exterior|0.00|0.00|4.23|0.00": [ + 44, + 66, + 213 + ] + }, + { + "wall|exterior|4.23|0.00|4.23|8.46": [ + 20, + 166, + 201 + ] + }, + { + "wall|2|4.23|0.00|4.23|8.46": [ + 12, + 37, + 112 + ] + }, + { + "wall|2|0.00|8.46|4.23|8.46": [ + 95, + 179, + 93 + ] + }, + { + "wall|2|0.00|0.00|0.00|8.46": [ + 158, + 37, + 63 + ] + }, + { + "wall|2|0.00|0.00|4.23|0.00": [ + 106, + 144, + 87 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "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/train1708/0/0.json b/train/train1708/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..34a7c2aed0d7258f87d1bd6f1c9772510915bcad --- /dev/null +++ b/train/train1708/0/0.json @@ -0,0 +1,1896 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 0.9965918064117432 + }, + "rotation": { + "x": -8.617769708507694e-06, + "y": 269.99993896484375, + "z": 2.107437921949895e-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": 5.9684367179870605, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.726701259613037, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 0.8122833967208862 + ] + ], + "center": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 1.0051735639572144 + }, + "size": { + "x": 0.31609344482421875, + "y": 0.13722825050354004, + "z": 0.38578033447265625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.410607814788818, + 0.5510960221290588, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.5510960221290588, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.5510959625244141, + 1.198063850402832 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.6883241534233093, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.6883241534233093, + 1.198063850402832 + ] + ] + } + } + }, + { + "objectId": "DishSponge|surface|6|18", + "object_info": { + "name": "DishSponge|surface|6|18", + "position": { + "x": 0.5631317496299744, + "y": 0.9395577311515808, + "z": 4.7774834632873535 + }, + "rotation": { + "x": 4.5518761908169836e-05, + "y": 89.99998474121094, + "z": -0.0005439731758087873 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.6366994380950928, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|18", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.74070405960083 + ] + ], + "center": { + "x": 0.5631317496299744, + "y": 0.9504860639572144, + "z": 4.7774834632873535 + }, + "size": { + "x": 0.1389460563659668, + "y": 0.026039838790893555, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.632604718208313, + 0.9374668598175049, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374669790267944, + 4.814262866973877 + ], + [ + 0.49365875124931335, + 0.9374662637710571, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635051488876343, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635058641433716, + 4.814262390136719 + ], + [ + 0.49365875124931335, + 0.9635059833526611, + 4.814262390136719 + ], + [ + 0.49365878105163574, + 0.9635052680969238, + 4.74070405960083 + ] + ] + } + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 6.2099995613098145, + "y": 1.042765736579895, + "z": 3.7707598209381104 + }, + "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": 4.258911609649658, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Hung_36x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.331045150756836, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 2.8066935539245605 + ] + ], + "center": { + "x": 6.210000038146973, + "y": 1.499281406402588, + "z": 3.288835048675537 + }, + "size": { + "x": 0.24209022521972656, + "y": 0.9133358001708984, + "z": 0.9642829895019531 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|surface|6|13", + "object_info": { + "name": "Toaster|surface|6|13", + "position": { + "x": 0.4096106290817261, + "y": 0.9374666810035706, + "z": 4.624452590942383 + }, + "rotation": { + "x": 1.4111724340182263e-05, + "y": 89.99987030029297, + "z": 2.0073312043678015e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.849764108657837, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|13", + "assetId": "Toaster_9", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5902489423751831, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.5298686027526855 + ] + ], + "center": { + "x": 0.41897130012512207, + "y": 1.040675163269043, + "z": 4.624452590942383 + }, + "size": { + "x": 0.34255528450012207, + "y": 0.20641756057739258, + "z": 0.18916797637939453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5902494788169861, + 0.9374665021896362, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 0.9374664425849915, + 4.719037055969238 + ], + [ + 0.2476929873228073, + 0.9374665021896362, + 4.71903657913208 + ], + [ + 0.24769340455532074, + 0.937466561794281, + 4.529868125915527 + ], + [ + 0.5902495384216309, + 1.143884539604187, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 1.1438844203948975, + 4.719037055969238 + ], + [ + 0.2476930320262909, + 1.143884539604187, + 4.71903657913208 + ], + [ + 0.24769344925880432, + 1.143884539604187, + 4.5298686027526855 + ] + ] + } + } + }, + { + "objectId": "DogBed|7|4", + "object_info": { + "name": "DogBed|7|4", + "position": { + "x": 3.773636817932129, + "y": 0.003956407308578491, + "z": 2.729346752166748 + }, + "rotation": { + "x": 0.0014191973023116589, + "y": 269.9998779296875, + "z": -0.00016524105740245432 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.7745885848999023, + "objectType": "DogBed", + "objectId": "DogBed|7|4", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.193436622619629, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 4.193436622619629, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 2.2371573448181152 + ] + ], + "center": { + "x": 3.7760467529296875, + "y": 0.15798266232013702, + "z": 2.733346939086914 + }, + "size": { + "x": 0.8347797393798828, + "y": 0.3159649074077606, + "z": 0.9923791885375977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.358659505844116, + -4.896894097328186e-06, + 3.2295355796813965 + ], + [ + 3.358661413192749, + -2.0349398255348206e-06, + 2.237156391143799 + ], + [ + 4.193441867828369, + 1.8642283976078033e-05, + 2.2371578216552734 + ], + [ + 4.193439960479736, + 1.5780329704284668e-05, + 3.22953724861145 + ], + [ + 3.358651638031006, + 0.31594735383987427, + 3.229536533355713 + ], + [ + 3.3586537837982178, + 0.3159502148628235, + 2.237157106399536 + ], + [ + 4.193434238433838, + 0.31597089767456055, + 2.23715877532959 + ], + [ + 4.193432331085205, + 0.31596803665161133, + 3.2295382022857666 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 5.957183361053467, + "y": 0.0033270269632339478, + "z": 2.2842347621917725 + }, + "rotation": { + "x": 0.9100496172904968, + "y": 270.00201416015625, + "z": 1.2968323062523268e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 5.178719520568848, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.177154541015625, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 1.9394149780273438 + ] + ], + "center": { + "x": 5.941217422485352, + "y": 0.25510361790657043, + "z": 2.2786941528320312 + }, + "size": { + "x": 0.4718742370605469, + "y": 0.5102071166038513, + "z": 0.678558349609375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.713083267211914, + -0.005755754187703133, + 2.61797833442688 + ], + [ + 5.713059425354004, + -0.005755908787250519, + 1.9394176006317139 + ], + [ + 6.18495512008667, + 0.0017400130163878202, + 1.9394009113311768 + ], + [ + 6.18497896194458, + 0.0017401666846126318, + 2.6179616451263428 + ], + [ + 5.704996109008789, + 0.5033749938011169, + 2.61797833442688 + ], + [ + 5.704971790313721, + 0.5033748745918274, + 1.939417839050293 + ], + [ + 6.176867485046387, + 0.5108708143234253, + 1.9394010305404663 + ], + [ + 6.176891803741455, + 0.5108709335327148, + 2.6179616451263428 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|25", + "object_info": { + "name": "SprayBottle|surface|6|25", + "position": { + "x": 0.4096115231513977, + "y": 0.9369469881057739, + "z": 4.471437931060791 + }, + "rotation": { + "x": 0.014869173988699913, + "y": 89.99882507324219, + "z": 0.040896009653806686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9397268295288086, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|25", + "assetId": "Spray_Bottle_4", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4697638154029846, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.455009460449219 + ] + ], + "center": { + "x": 0.4135154187679291, + "y": 1.0601979494094849, + "z": 4.471508979797363 + }, + "size": { + "x": 0.11249679327011108, + "y": 0.24551916122436523, + "z": 0.03299903869628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.469733864068985, + 0.9374619126319885, + 4.455012321472168 + ], + [ + 0.46973317861557007, + 0.937438428401947, + 4.4878668785095215 + ], + [ + 0.35726696252822876, + 0.937467634677887, + 4.4878644943237305 + ], + [ + 0.3572676181793213, + 0.9374910593032837, + 4.455009937286377 + ], + [ + 0.4697975814342499, + 1.1829599142074585, + 4.4551873207092285 + ], + [ + 0.46979689598083496, + 1.1829365491867065, + 4.488041877746582 + ], + [ + 0.35733065009117126, + 1.1829657554626465, + 4.488039970397949 + ], + [ + 0.3573313355445862, + 1.1829891204833984, + 4.4551849365234375 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.025398969650268555, + "y": 5.960464477539063e-08, + "z": 4.1660356521606445 + }, + "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": [ + "Spatula|surface|6|17", + "SaltShaker|surface|6|20", + "Vase|surface|6|15", + "Toaster|surface|6|13", + "SoapBottle|surface|6|21", + "Spatula|surface|6|16", + "PaperTowelRoll|surface|6|24", + "SprayBottle|surface|6|25", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "DishSponge|surface|6|18" + ], + "distance": 3.546570062637329, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_4x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6355515718460083, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.6355515718460083, + 0.0, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.0, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.0, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.0, + 4.164999961853027 + ] + ], + "center": { + "x": 0.3302757740020752, + "y": 0.4687333106994629, + "z": 4.775140762329102 + }, + "size": { + "x": 0.6105515956878662, + "y": 0.9374666213989258, + "z": 1.2202816009521484 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.14499568939209 + }, + "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": 2.742511749267578, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6266024112701416, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.144999980926514 + ] + ], + "center": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.160870552062988 + }, + "size": { + "x": 0.922407865524292, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|surface|6|21", + "object_info": { + "name": "SoapBottle|surface|6|21", + "position": { + "x": 0.48637279868125916, + "y": 0.9395943880081177, + "z": 4.318403244018555 + }, + "rotation": { + "x": 0.008398315869271755, + "y": 89.99995422363281, + "z": -0.0027105396147817373 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9759979248046875, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|21", + "assetId": "Soap_Bottle_21", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5462433099746704, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.259096622467041 + ] + ], + "center": { + "x": 0.4863945245742798, + "y": 1.0629488229751587, + "z": 4.318946838378906 + }, + "size": { + "x": 0.11969757080078125, + "y": 0.2509732246398926, + "z": 0.11970043182373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5462232232093811, + 0.9374562501907349, + 4.259103298187256 + ], + [ + 0.5462231636047363, + 0.9374619126319885, + 4.378803253173828 + ], + [ + 0.4265255630016327, + 0.9374794960021973, + 4.378803253173828 + ], + [ + 0.42652565240859985, + 0.9374738335609436, + 4.259103298187256 + ], + [ + 0.5462599992752075, + 1.1884355545043945, + 4.259091377258301 + ], + [ + 0.5462599396705627, + 1.188441276550293, + 4.378791332244873 + ], + [ + 0.4265623688697815, + 1.188458800315857, + 4.378791332244873 + ], + [ + 0.42656242847442627, + 1.1884530782699585, + 4.259091377258301 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 3.479842185974121, + "y": -0.0005981922149658203, + "z": 4.141299247741699 + }, + "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": 2.4066922664642334, + "objectType": "Doorframe", + "objectId": "door|6|7", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.4193291664123535, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 5.4193291664123535, + 0.0, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 0.0, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 0.0, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 0.0, + 4.090341091156006 + ] + ], + "center": { + "x": 4.4479241371154785, + "y": 1.0435371398925781, + "z": 4.139999866485596 + }, + "size": { + "x": 1.94281005859375, + "y": 2.0870742797851562, + "z": 0.09931755065917969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spatula|surface|6|16", + "object_info": { + "name": "Spatula|surface|6|16", + "position": { + "x": 0.1793704628944397, + "y": 0.9448747634887695, + "z": 4.3181471824646 + }, + "rotation": { + "x": 0.19126881659030914, + "y": 89.99832916259766, + "z": 358.85308837890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.215916156768799, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|16", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.40010350942611694, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.285933971405029 + ] + ], + "center": { + "x": 0.25133830308914185, + "y": 0.9453555345535278, + "z": 4.318130970001221 + }, + "size": { + "x": 0.2975304126739502, + "y": 0.018312454223632812, + "z": 0.06439399719238281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.40005403757095337, + 0.9358898401260376, + 4.286281108856201 + ], + [ + 0.4000564217567444, + 0.9371721148490906, + 4.350330829620361 + ], + [ + 0.10254623740911484, + 0.9381652474403381, + 4.350322246551514 + ], + [ + 0.10254382342100143, + 0.9368829727172852, + 4.286272048950195 + ], + [ + 0.4001119136810303, + 0.9532276391983032, + 4.285933971405029 + ], + [ + 0.4001142978668213, + 0.9545099139213562, + 4.3499836921691895 + ], + [ + 0.10260412842035294, + 0.9555031061172485, + 4.349975109100342 + ], + [ + 0.10260171443223953, + 0.9542208313941956, + 4.285924911499023 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 4.827890872955322, + "y": 0.004547119140625, + "z": 0.6480333209037781 + }, + "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|7|29" + ], + "distance": 6.041795253753662, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 6.184995651245117, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 0.02498549222946167 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 0.02498549222946167 + ] + ], + "center": { + "x": 4.825891494750977, + "y": 0.585404098033905, + "z": 0.6306344866752625 + }, + "size": { + "x": 2.7182083129882812, + "y": 1.1708118915557861, + "z": 1.2112979888916016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 0.02498549222946167 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.9000000953674316, + "y": 0.9009997844696045, + "z": 6.599999904632568 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.9000000953674316, + "y": 1.5759997367858887, + "z": 6.599999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|6|7", + "window|7|0", + "GarbageCan|7|2" + ], + "different_object": [ + "Spatula|surface|6|16", + "SprayBottle|surface|6|25", + "Toaster|surface|6|13", + "Painting|6|5", + "SoapBottle|surface|6|21", + "DogBed|7|4", + "CounterTop|6|0", + "Sofa|7|1", + "Pillow|surface|7|29", + "DishSponge|surface|6|18" + ] +} \ No newline at end of file diff --git a/train/train1708/0/0_depth_npy.npy b/train/train1708/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..339e290b1d801ffbecf0c8d250962160772d9676 --- /dev/null +++ b/train/train1708/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de6506c6fe8e3e67e1f2f06701faabfbcba85fdcb2d8f7c172ae66ca3b9e5d87 +size 3145856 diff --git a/train/train1708/0/0_semantic_sensor_npy.npy b/train/train1708/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ce79c6ae88ac58d2f62037dc74da32f15c3cfe7e --- /dev/null +++ b/train/train1708/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:169ff2d82abebe20aaea15248e66e0645695b14d64ae9c0094e640b062c4e4a5 +size 2359424 diff --git a/train/train1708/0/1.json b/train/train1708/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4753e7c542c5e8edad0f5306cbf428f83da44ff --- /dev/null +++ b/train/train1708/0/1.json @@ -0,0 +1,630 @@ +{ + "object": [ + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 6.2099995613098145, + "y": 1.042765736579895, + "z": 3.7707598209381104 + }, + "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": 4.258911609649658, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Hung_36x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.331045150756836, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 2.8066935539245605 + ] + ], + "center": { + "x": 6.210000038146973, + "y": 1.499281406402588, + "z": 3.288835048675537 + }, + "size": { + "x": 0.24209022521972656, + "y": 0.9133358001708984, + "z": 0.9642829895019531 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|6|3", + "object_info": { + "name": "Television|6|3", + "position": { + "x": 5.1513285636901855, + "y": 1.4249145984649658, + "z": 6.197158336639404 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4583852291107178, + "objectType": "Television", + "objectId": "Television|6|3", + "assetId": "Television_27", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002819538116455, + 1.9521044492721558, + 6.204999923706055 + ], + [ + 6.002819538116455, + 1.9521044492721558, + 6.092864036560059 + ], + [ + 6.002819538116455, + 0.7423349618911743, + 6.204999923706055 + ], + [ + 6.002819538116455, + 0.7423349618911743, + 6.092864036560059 + ], + [ + 4.299837589263916, + 1.9521044492721558, + 6.204999923706055 + ], + [ + 4.299837589263916, + 1.9521044492721558, + 6.092864036560059 + ], + [ + 4.299837589263916, + 0.7423349618911743, + 6.204999923706055 + ], + [ + 4.299837589263916, + 0.7423349618911743, + 6.092864036560059 + ] + ], + "center": { + "x": 5.1513285636901855, + "y": 1.347219705581665, + "z": 6.148931980133057 + }, + "size": { + "x": 1.702981948852539, + "y": 1.2097694873809814, + "z": 0.1121358871459961 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|4|6", + "object_info": { + "name": "door|4|6", + "position": { + "x": 4.139772891998291, + "y": -0.00026702880859375, + "z": 9.763641357421875 + }, + "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": 3.8845109939575195, + "objectType": "Doorway", + "objectId": "door|4|6", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.05596923828125, + 2.095932960510254, + 9.785931587219238 + ], + [ + 5.05596923828125, + 2.095932960510254, + 7.79390811920166 + ], + [ + 5.05596923828125, + -2.384185791015625e-07, + 9.785931587219238 + ], + [ + 5.05596923828125, + -2.384185791015625e-07, + 7.79390811920166 + ], + [ + 4.088201522827148, + 2.095932960510254, + 9.785931587219238 + ], + [ + 4.088201522827148, + 2.095932960510254, + 7.79390811920166 + ], + [ + 4.088201522827148, + -2.384185791015625e-07, + 9.785931587219238 + ], + [ + 4.088201522827148, + -2.384185791015625e-07, + 7.79390811920166 + ] + ], + "center": { + "x": 4.572085380554199, + "y": 1.0479663610458374, + "z": 8.78991985321045 + }, + "size": { + "x": 0.9677677154541016, + "y": 2.095933198928833, + "z": 1.9920234680175781 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 5.957183361053467, + "y": 0.0033270269632339478, + "z": 2.2842347621917725 + }, + "rotation": { + "x": 0.9100496172904968, + "y": 270.00201416015625, + "z": 1.2968323062523268e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 5.178719520568848, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.177154541015625, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 1.9394149780273438 + ] + ], + "center": { + "x": 5.941217422485352, + "y": 0.25510361790657043, + "z": 2.2786941528320312 + }, + "size": { + "x": 0.4718742370605469, + "y": 0.5102071166038513, + "z": 0.678558349609375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.713083267211914, + -0.005755754187703133, + 2.61797833442688 + ], + [ + 5.713059425354004, + -0.005755908787250519, + 1.9394176006317139 + ], + [ + 6.18495512008667, + 0.0017400130163878202, + 1.9394009113311768 + ], + [ + 6.18497896194458, + 0.0017401666846126318, + 2.6179616451263428 + ], + [ + 5.704996109008789, + 0.5033749938011169, + 2.61797833442688 + ], + [ + 5.704971790313721, + 0.5033748745918274, + 1.939417839050293 + ], + [ + 6.176867485046387, + 0.5108708143234253, + 1.9394010305404663 + ], + [ + 6.176891803741455, + 0.5108709335327148, + 2.6179616451263428 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 3.479842185974121, + "y": -0.0005981922149658203, + "z": 4.141299247741699 + }, + "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": 2.4066922664642334, + "objectType": "Doorframe", + "objectId": "door|6|7", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.4193291664123535, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 5.4193291664123535, + 0.0, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 0.0, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 0.0, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 0.0, + 4.090341091156006 + ] + ], + "center": { + "x": 4.4479241371154785, + "y": 1.0435371398925781, + "z": 4.139999866485596 + }, + "size": { + "x": 1.94281005859375, + "y": 2.0870742797851562, + "z": 0.09931755065917969 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 1.530945155536756e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|6|7", + "window|7|0", + "GarbageCan|7|2" + ], + "different_object": [ + "door|4|6", + "Television|6|3" + ] +} \ No newline at end of file diff --git a/train/train1708/0/1_depth_npy.npy b/train/train1708/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..34a4a452ca9506224c0592ee12140323f3f43871 --- /dev/null +++ b/train/train1708/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06e182c77e35e2505e5a519df7f452679c79ecc11cb1970cdd6f30e57994a30d +size 3145856 diff --git a/train/train1708/0/1_semantic_sensor_npy.npy b/train/train1708/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..71e2c9e76e131c2ca0493ab99c8d236bc7099fe6 --- /dev/null +++ b/train/train1708/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:611ca075939945ef853d0c69a865e46390e586c39b441e71ad0d0f5cdfea7014 +size 2359424 diff --git a/train/train1708/0/depth_0.png b/train/train1708/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78788020b209535327bb8b1ab458254aaf676955 Binary files /dev/null and b/train/train1708/0/depth_0.png differ diff --git a/train/train1708/0/depth_1.png b/train/train1708/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6d556f196aa95c83d9cd887439216cbf26370ec7 Binary files /dev/null and b/train/train1708/0/depth_1.png differ diff --git a/train/train1708/0/mask_questions.jsonl b/train/train1708/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfb5adda6f0ff92ca835e9693d88ae154cc58a21 --- /dev/null +++ b/train/train1708/0/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 4850, "folder_dir": "train1708/0", "pair_name": "0-1:window|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. SprayBottle\nB. Window\nC. Doorframe\nD. Sofa", "answer": "B", "object_name": "Window", "image_1": "train1708/0/rgb_0.png", "image_2": "train1708/0/rgb_1.png", "mask_image": "train1708/0/rgb_1_mask_window|7|0.png", "options": ["SprayBottle", "Window", "Doorframe", "Sofa"]} +{"id": 4851, "folder_dir": "train1708/0", "pair_name": "1-0:window|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. Doorway\nB. Window\nC. Television\nD. Doorframe", "answer": "B", "object_name": "Window", "image_1": "train1708/0/rgb_1.png", "image_2": "train1708/0/rgb_0.png", "mask_image": "train1708/0/rgb_0_mask_window|7|0.png", "options": ["Doorway", "Window", "Television", "Doorframe"]} +{"id": 4852, "folder_dir": "train1708/0", "pair_name": "1-0:GarbageCan|7|2", "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. Doorframe\nB. Doorway\nC. GarbageCan\nD. Television", "answer": "C", "object_name": "GarbageCan", "image_1": "train1708/0/rgb_1.png", "image_2": "train1708/0/rgb_0.png", "mask_image": "train1708/0/rgb_0_mask_GarbageCan|7|2.png", "options": ["Doorframe", "Doorway", "GarbageCan", "Television"]} diff --git a/train/train1708/0/questions_distance.jsonl b/train/train1708/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a23ba0617e2818992bb75cd6c8ac7ccaa644b7b --- /dev/null +++ b/train/train1708/0/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1964, "folder_dir": "train1708/0", "query": "Which of the following objects is closest to Window 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. GarbageCan\nB. DogBed\nC. Pillow\nD. Other\n", "answer": "A", "src_object": "Window", "target_object": "GarbageCan", "question": "Which of the following objects is closest to Window 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": "GarbageCan", "semantic_id": "GarbageCan|7|2", "distance": 1.624994490244279, "com": {"x": 5.941217422485352, "y": 0.25510361790657043, "z": 2.2786941528320312}}, {"text": "DogBed", "semantic_id": "DogBed|7|4", "distance": 2.8340391591139875, "com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}}, {"text": "Pillow", "semantic_id": "Pillow|surface|7|29", "distance": 2.529837847159343, "com": {"x": 5.568654537200928, "y": 0.6197100877761841, "z": 1.0051735639572144}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1708/0/rgb_0.png", "image_2": "train1708/0/rgb_1.png"} diff --git a/train/train1708/0/rgb_0.png b/train/train1708/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..41d897ccdfd12844f7a6476935472b2fb3acc0b2 --- /dev/null +++ b/train/train1708/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d74771f881114c8d4ed4d10d167cb74f1a71cc1f4a9809ac8edc53a64facf297 +size 547692 diff --git a/train/train1708/0/rgb_0_mask_GarbageCan|7|2.png b/train/train1708/0/rgb_0_mask_GarbageCan|7|2.png new file mode 100644 index 0000000000000000000000000000000000000000..fda656c0bb1375dcbd62d13770cd78d7e91ae28f --- /dev/null +++ b/train/train1708/0/rgb_0_mask_GarbageCan|7|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84c90522f1f4750c39163c6601a105412d91a4d3dbb388a74ea986d76c12f91f +size 487979 diff --git a/train/train1708/0/rgb_0_mask_window|7|0.png b/train/train1708/0/rgb_0_mask_window|7|0.png new file mode 100644 index 0000000000000000000000000000000000000000..9f56ea49e18d6a4ad55397b85798347cda2b8e30 --- /dev/null +++ b/train/train1708/0/rgb_0_mask_window|7|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bd86d761e0e111e2f141fb5682a5329a4f4f3db448a8acd59f75c06fb53153d +size 488246 diff --git a/train/train1708/0/rgb_1.png b/train/train1708/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7617e206dfc6474517d32d5c181cdd6b14d64b75 --- /dev/null +++ b/train/train1708/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af4c86342e19d5709bc3df21897806ff5a5ed59c1211ca66d8091a470168d456 +size 498036 diff --git a/train/train1708/0/rgb_1_mask_window|7|0.png b/train/train1708/0/rgb_1_mask_window|7|0.png new file mode 100644 index 0000000000000000000000000000000000000000..023ba76f9903debf031a904d14209146da8daeea --- /dev/null +++ b/train/train1708/0/rgb_1_mask_window|7|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:753c44935bf9781cab1e5424bc9ad5067bb172b4452a5d9ea1ba9282dc894079 +size 444024 diff --git a/train/train1708/0/semantic_0.png b/train/train1708/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4ca4d8a9737ce672377e56e86bf622a6668c4256 Binary files /dev/null and b/train/train1708/0/semantic_0.png differ diff --git a/train/train1708/0/semantic_1.png b/train/train1708/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ed22a6c3a2b3b1e819b2ea75c190c6565a5082d8 Binary files /dev/null and b/train/train1708/0/semantic_1.png differ diff --git a/train/train1708/1/0.json b/train/train1708/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f8cb4d5d6e147fdf5c772eb7644b68018d4eb321 --- /dev/null +++ b/train/train1708/1/0.json @@ -0,0 +1,1896 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 0.9965918064117432 + }, + "rotation": { + "x": -8.617769708507694e-06, + "y": 269.99993896484375, + "z": 2.107437921949895e-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": 5.9684367179870605, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.726701259613037, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 0.8122833967208862 + ] + ], + "center": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 1.0051735639572144 + }, + "size": { + "x": 0.31609344482421875, + "y": 0.13722825050354004, + "z": 0.38578033447265625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.410607814788818, + 0.5510960221290588, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.5510960221290588, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.5510959625244141, + 1.198063850402832 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.6883241534233093, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.6883241534233093, + 1.198063850402832 + ] + ] + } + } + }, + { + "objectId": "DishSponge|surface|6|18", + "object_info": { + "name": "DishSponge|surface|6|18", + "position": { + "x": 0.5631317496299744, + "y": 0.9395577311515808, + "z": 4.7774834632873535 + }, + "rotation": { + "x": 4.5518761908169836e-05, + "y": 89.99998474121094, + "z": -0.0005439731758087873 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.6366994380950928, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|18", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.74070405960083 + ] + ], + "center": { + "x": 0.5631317496299744, + "y": 0.9504860639572144, + "z": 4.7774834632873535 + }, + "size": { + "x": 0.1389460563659668, + "y": 0.026039838790893555, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.632604718208313, + 0.9374668598175049, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374669790267944, + 4.814262866973877 + ], + [ + 0.49365875124931335, + 0.9374662637710571, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635051488876343, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635058641433716, + 4.814262390136719 + ], + [ + 0.49365875124931335, + 0.9635059833526611, + 4.814262390136719 + ], + [ + 0.49365878105163574, + 0.9635052680969238, + 4.74070405960083 + ] + ] + } + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 6.2099995613098145, + "y": 1.042765736579895, + "z": 3.7707598209381104 + }, + "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": 4.258911609649658, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Hung_36x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.331045150756836, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 2.8066935539245605 + ] + ], + "center": { + "x": 6.210000038146973, + "y": 1.499281406402588, + "z": 3.288835048675537 + }, + "size": { + "x": 0.24209022521972656, + "y": 0.9133358001708984, + "z": 0.9642829895019531 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|surface|6|13", + "object_info": { + "name": "Toaster|surface|6|13", + "position": { + "x": 0.4096106290817261, + "y": 0.9374666810035706, + "z": 4.624452590942383 + }, + "rotation": { + "x": 1.4111724340182263e-05, + "y": 89.99987030029297, + "z": 2.0073312043678015e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.849764108657837, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|13", + "assetId": "Toaster_9", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5902489423751831, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.5298686027526855 + ] + ], + "center": { + "x": 0.41897130012512207, + "y": 1.040675163269043, + "z": 4.624452590942383 + }, + "size": { + "x": 0.34255528450012207, + "y": 0.20641756057739258, + "z": 0.18916797637939453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5902494788169861, + 0.9374665021896362, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 0.9374664425849915, + 4.719037055969238 + ], + [ + 0.2476929873228073, + 0.9374665021896362, + 4.71903657913208 + ], + [ + 0.24769340455532074, + 0.937466561794281, + 4.529868125915527 + ], + [ + 0.5902495384216309, + 1.143884539604187, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 1.1438844203948975, + 4.719037055969238 + ], + [ + 0.2476930320262909, + 1.143884539604187, + 4.71903657913208 + ], + [ + 0.24769344925880432, + 1.143884539604187, + 4.5298686027526855 + ] + ] + } + } + }, + { + "objectId": "DogBed|7|4", + "object_info": { + "name": "DogBed|7|4", + "position": { + "x": 3.773636817932129, + "y": 0.003956407308578491, + "z": 2.729346752166748 + }, + "rotation": { + "x": 0.0014191973023116589, + "y": 269.9998779296875, + "z": -0.00016524105740245432 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.7745885848999023, + "objectType": "DogBed", + "objectId": "DogBed|7|4", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.193436622619629, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 4.193436622619629, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 2.2371573448181152 + ] + ], + "center": { + "x": 3.7760467529296875, + "y": 0.15798266232013702, + "z": 2.733346939086914 + }, + "size": { + "x": 0.8347797393798828, + "y": 0.3159649074077606, + "z": 0.9923791885375977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.358659505844116, + -4.896894097328186e-06, + 3.2295355796813965 + ], + [ + 3.358661413192749, + -2.0349398255348206e-06, + 2.237156391143799 + ], + [ + 4.193441867828369, + 1.8642283976078033e-05, + 2.2371578216552734 + ], + [ + 4.193439960479736, + 1.5780329704284668e-05, + 3.22953724861145 + ], + [ + 3.358651638031006, + 0.31594735383987427, + 3.229536533355713 + ], + [ + 3.3586537837982178, + 0.3159502148628235, + 2.237157106399536 + ], + [ + 4.193434238433838, + 0.31597089767456055, + 2.23715877532959 + ], + [ + 4.193432331085205, + 0.31596803665161133, + 3.2295382022857666 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 5.957183361053467, + "y": 0.0033270269632339478, + "z": 2.2842347621917725 + }, + "rotation": { + "x": 0.9100496172904968, + "y": 270.00201416015625, + "z": 1.2968323062523268e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 5.178719520568848, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.177154541015625, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 1.9394149780273438 + ] + ], + "center": { + "x": 5.941217422485352, + "y": 0.25510361790657043, + "z": 2.2786941528320312 + }, + "size": { + "x": 0.4718742370605469, + "y": 0.5102071166038513, + "z": 0.678558349609375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.713083267211914, + -0.005755754187703133, + 2.61797833442688 + ], + [ + 5.713059425354004, + -0.005755908787250519, + 1.9394176006317139 + ], + [ + 6.18495512008667, + 0.0017400130163878202, + 1.9394009113311768 + ], + [ + 6.18497896194458, + 0.0017401666846126318, + 2.6179616451263428 + ], + [ + 5.704996109008789, + 0.5033749938011169, + 2.61797833442688 + ], + [ + 5.704971790313721, + 0.5033748745918274, + 1.939417839050293 + ], + [ + 6.176867485046387, + 0.5108708143234253, + 1.9394010305404663 + ], + [ + 6.176891803741455, + 0.5108709335327148, + 2.6179616451263428 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|25", + "object_info": { + "name": "SprayBottle|surface|6|25", + "position": { + "x": 0.4096115231513977, + "y": 0.9369469881057739, + "z": 4.471437931060791 + }, + "rotation": { + "x": 0.014869173988699913, + "y": 89.99882507324219, + "z": 0.040896009653806686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9397268295288086, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|25", + "assetId": "Spray_Bottle_4", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4697638154029846, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.455009460449219 + ] + ], + "center": { + "x": 0.4135154187679291, + "y": 1.0601979494094849, + "z": 4.471508979797363 + }, + "size": { + "x": 0.11249679327011108, + "y": 0.24551916122436523, + "z": 0.03299903869628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.469733864068985, + 0.9374619126319885, + 4.455012321472168 + ], + [ + 0.46973317861557007, + 0.937438428401947, + 4.4878668785095215 + ], + [ + 0.35726696252822876, + 0.937467634677887, + 4.4878644943237305 + ], + [ + 0.3572676181793213, + 0.9374910593032837, + 4.455009937286377 + ], + [ + 0.4697975814342499, + 1.1829599142074585, + 4.4551873207092285 + ], + [ + 0.46979689598083496, + 1.1829365491867065, + 4.488041877746582 + ], + [ + 0.35733065009117126, + 1.1829657554626465, + 4.488039970397949 + ], + [ + 0.3573313355445862, + 1.1829891204833984, + 4.4551849365234375 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.025398969650268555, + "y": 5.960464477539063e-08, + "z": 4.1660356521606445 + }, + "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": [ + "Spatula|surface|6|17", + "SaltShaker|surface|6|20", + "Vase|surface|6|15", + "Toaster|surface|6|13", + "SoapBottle|surface|6|21", + "Spatula|surface|6|16", + "PaperTowelRoll|surface|6|24", + "SprayBottle|surface|6|25", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "DishSponge|surface|6|18" + ], + "distance": 3.546570062637329, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_4x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6355515718460083, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.6355515718460083, + 0.0, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.0, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.0, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.0, + 4.164999961853027 + ] + ], + "center": { + "x": 0.3302757740020752, + "y": 0.4687333106994629, + "z": 4.775140762329102 + }, + "size": { + "x": 0.6105515956878662, + "y": 0.9374666213989258, + "z": 1.2202816009521484 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.14499568939209 + }, + "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": 2.742511749267578, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6266024112701416, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.144999980926514 + ] + ], + "center": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.160870552062988 + }, + "size": { + "x": 0.922407865524292, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|surface|6|21", + "object_info": { + "name": "SoapBottle|surface|6|21", + "position": { + "x": 0.48637279868125916, + "y": 0.9395943880081177, + "z": 4.318403244018555 + }, + "rotation": { + "x": 0.008398315869271755, + "y": 89.99995422363281, + "z": -0.0027105396147817373 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9759979248046875, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|21", + "assetId": "Soap_Bottle_21", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5462433099746704, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.259096622467041 + ] + ], + "center": { + "x": 0.4863945245742798, + "y": 1.0629488229751587, + "z": 4.318946838378906 + }, + "size": { + "x": 0.11969757080078125, + "y": 0.2509732246398926, + "z": 0.11970043182373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5462232232093811, + 0.9374562501907349, + 4.259103298187256 + ], + [ + 0.5462231636047363, + 0.9374619126319885, + 4.378803253173828 + ], + [ + 0.4265255630016327, + 0.9374794960021973, + 4.378803253173828 + ], + [ + 0.42652565240859985, + 0.9374738335609436, + 4.259103298187256 + ], + [ + 0.5462599992752075, + 1.1884355545043945, + 4.259091377258301 + ], + [ + 0.5462599396705627, + 1.188441276550293, + 4.378791332244873 + ], + [ + 0.4265623688697815, + 1.188458800315857, + 4.378791332244873 + ], + [ + 0.42656242847442627, + 1.1884530782699585, + 4.259091377258301 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 3.479842185974121, + "y": -0.0005981922149658203, + "z": 4.141299247741699 + }, + "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": 2.4066922664642334, + "objectType": "Doorframe", + "objectId": "door|6|7", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.4193291664123535, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 5.4193291664123535, + 0.0, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 0.0, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 0.0, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 0.0, + 4.090341091156006 + ] + ], + "center": { + "x": 4.4479241371154785, + "y": 1.0435371398925781, + "z": 4.139999866485596 + }, + "size": { + "x": 1.94281005859375, + "y": 2.0870742797851562, + "z": 0.09931755065917969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spatula|surface|6|16", + "object_info": { + "name": "Spatula|surface|6|16", + "position": { + "x": 0.1793704628944397, + "y": 0.9448747634887695, + "z": 4.3181471824646 + }, + "rotation": { + "x": 0.19126881659030914, + "y": 89.99832916259766, + "z": 358.85308837890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.215916156768799, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|16", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.40010350942611694, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.285933971405029 + ] + ], + "center": { + "x": 0.25133830308914185, + "y": 0.9453555345535278, + "z": 4.318130970001221 + }, + "size": { + "x": 0.2975304126739502, + "y": 0.018312454223632812, + "z": 0.06439399719238281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.40005403757095337, + 0.9358898401260376, + 4.286281108856201 + ], + [ + 0.4000564217567444, + 0.9371721148490906, + 4.350330829620361 + ], + [ + 0.10254623740911484, + 0.9381652474403381, + 4.350322246551514 + ], + [ + 0.10254382342100143, + 0.9368829727172852, + 4.286272048950195 + ], + [ + 0.4001119136810303, + 0.9532276391983032, + 4.285933971405029 + ], + [ + 0.4001142978668213, + 0.9545099139213562, + 4.3499836921691895 + ], + [ + 0.10260412842035294, + 0.9555031061172485, + 4.349975109100342 + ], + [ + 0.10260171443223953, + 0.9542208313941956, + 4.285924911499023 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 4.827890872955322, + "y": 0.004547119140625, + "z": 0.6480333209037781 + }, + "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|7|29" + ], + "distance": 6.041795253753662, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 6.184995651245117, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 0.02498549222946167 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 0.02498549222946167 + ] + ], + "center": { + "x": 4.825891494750977, + "y": 0.585404098033905, + "z": 0.6306344866752625 + }, + "size": { + "x": 2.7182083129882812, + "y": 1.1708118915557861, + "z": 1.2112979888916016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 0.02498549222946167 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.299999952316284, + "y": 0.9009997844696045, + "z": 6.800000190734863 + }, + "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": 3.299999952316284, + "y": 1.5759997367858887, + "z": 6.800000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Spatula|surface|6|16", + "SprayBottle|surface|6|25", + "Toaster|surface|6|13", + "Painting|6|5", + "SoapBottle|surface|6|21", + "CounterTop|6|0", + "DishSponge|surface|6|18" + ], + "different_object": [ + "GarbageCan|7|2", + "DogBed|7|4", + "door|6|7", + "Sofa|7|1", + "Pillow|surface|7|29", + "window|7|0" + ] +} \ No newline at end of file diff --git a/train/train1708/1/0_depth_npy.npy b/train/train1708/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0fd9459d6009acacd8c11036d859bb64141b943e --- /dev/null +++ b/train/train1708/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5090bd046b321f6d50fba3971db6cbc13a23968668fa43749ab113524def31bb +size 3145856 diff --git a/train/train1708/1/0_semantic_sensor_npy.npy b/train/train1708/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..05dfbd1ed2c22aabd445f2f1c5cef69e39f3cc64 --- /dev/null +++ b/train/train1708/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dea1dabe64547ff78738eb5d00ff2674c2b950a73ef368fec4f66ec3c0138ba8 +size 2359424 diff --git a/train/train1708/1/1.json b/train/train1708/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..11de85f736d64c5724ef5008f6efb8052e1c4e35 --- /dev/null +++ b/train/train1708/1/1.json @@ -0,0 +1,2322 @@ +{ + "object": [ + { + "objectId": "Fork|surface|6|14", + "object_info": { + "name": "Fork|surface|6|14", + "position": { + "x": 0.2560890316963196, + "y": 0.9384329319000244, + "z": 5.236566066741943 + }, + "rotation": { + "x": 3.6905491924699163e-06, + "y": 89.99987030029297, + "z": 0.000702229212038219 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.692218780517578, + "objectType": "Fork", + "objectId": "Fork|surface|6|14", + "assetId": "RoboTHOR_fork_ai2_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.36127540469169617, + 0.9685249328613281, + 5.251534938812256 + ], + [ + 0.36127540469169617, + 0.9685249328613281, + 5.221597194671631 + ], + [ + 0.36127540469169617, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.36127540469169617, + 0.9374663829803467, + 5.221597194671631 + ], + [ + 0.150902658700943, + 0.9685249328613281, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9685249328613281, + 5.221597194671631 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.221597194671631 + ] + ], + "center": { + "x": 0.2560890316963196, + "y": 0.9529956579208374, + "z": 5.236566066741943 + }, + "size": { + "x": 0.21037274599075317, + "y": 0.031058549880981445, + "z": 0.029937744140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.36127540469169617, + 0.9374667406082153, + 5.221597671508789 + ], + [ + 0.3612753450870514, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.251534461975098 + ], + [ + 0.15090271830558777, + 0.9374667406082153, + 5.221597194671631 + ], + [ + 0.36127540469169617, + 0.9685249328613281, + 5.221598148345947 + ], + [ + 0.3612753450870514, + 0.9685245752334595, + 5.251535415649414 + ], + [ + 0.150902658700943, + 0.9685245752334595, + 5.251534938812256 + ], + [ + 0.15090271830558777, + 0.9685249328613281, + 5.221597671508789 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|6|15", + "object_info": { + "name": "Vase|surface|6|15", + "position": { + "x": 0.3328497111797333, + "y": 0.9375024437904358, + "z": 5.08353853225708 + }, + "rotation": { + "x": 3.007233715379698e-07, + "y": 89.99993896484375, + "z": -2.8061154466740845e-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": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.6841349601745605, + "objectType": "Vase", + "objectId": "Vase|surface|6|15", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4085967540740967, + 1.0076344013214111, + 5.159034729003906 + ], + [ + 0.4085967540740967, + 1.0076344013214111, + 5.0080413818359375 + ], + [ + 0.4085967540740967, + 0.9374666213989258, + 5.159034729003906 + ], + [ + 0.4085967540740967, + 0.9374666213989258, + 5.0080413818359375 + ], + [ + 0.257604718208313, + 1.0076344013214111, + 5.159034729003906 + ], + [ + 0.257604718208313, + 1.0076344013214111, + 5.0080413818359375 + ], + [ + 0.257604718208313, + 0.9374666213989258, + 5.159034729003906 + ], + [ + 0.257604718208313, + 0.9374666213989258, + 5.0080413818359375 + ] + ], + "center": { + "x": 0.33310073614120483, + "y": 0.9725505113601685, + "z": 5.083538055419922 + }, + "size": { + "x": 0.1509920358657837, + "y": 0.07016777992248535, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.40859678387641907, + 0.9374664425849915, + 5.0080413818359375 + ], + [ + 0.4085966646671295, + 0.9374664425849915, + 5.159034729003906 + ], + [ + 0.2576046288013458, + 0.9374664425849915, + 5.159034252166748 + ], + [ + 0.25760477781295776, + 0.9374664425849915, + 5.0080413818359375 + ], + [ + 0.40859678387641907, + 1.0076345205307007, + 5.0080413818359375 + ], + [ + 0.4085966646671295, + 1.0076345205307007, + 5.159034729003906 + ], + [ + 0.2576046288013458, + 1.0076345205307007, + 5.159034252166748 + ], + [ + 0.25760477781295776, + 1.0076345205307007, + 5.0080413818359375 + ] + ] + } + } + }, + { + "objectId": "Painting|6|4", + "object_info": { + "name": "Painting|6|4", + "position": { + "x": 0.006129627116024494, + "y": 1.489218831062317, + "z": 7.077058792114258 + }, + "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": 2.925551652908325, + "objectType": "Painting", + "objectId": "Painting|6|4", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.024149425327777863, + 1.7936227321624756, + 7.305316925048828 + ], + [ + 0.024149425327777863, + 1.7936227321624756, + 6.8475141525268555 + ], + [ + 0.024149425327777863, + 1.185720682144165, + 7.305316925048828 + ], + [ + 0.024149425327777863, + 1.185720682144165, + 6.8475141525268555 + ], + [ + 0.005000026896595955, + 1.7936227321624756, + 7.305316925048828 + ], + [ + 0.005000026896595955, + 1.7936227321624756, + 6.8475141525268555 + ], + [ + 0.005000026896595955, + 1.185720682144165, + 7.305316925048828 + ], + [ + 0.005000026896595955, + 1.185720682144165, + 6.8475141525268555 + ] + ], + "center": { + "x": 0.014574726112186909, + "y": 1.4896717071533203, + "z": 7.076415538787842 + }, + "size": { + "x": 0.019149398431181908, + "y": 0.6079020500183105, + "z": 0.45780277252197266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|6|18", + "object_info": { + "name": "DishSponge|surface|6|18", + "position": { + "x": 0.5631317496299744, + "y": 0.9395577311515808, + "z": 4.7774834632873535 + }, + "rotation": { + "x": 4.5518761908169836e-05, + "y": 89.99998474121094, + "z": -0.0005439731758087873 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.6366994380950928, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|18", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.74070405960083 + ] + ], + "center": { + "x": 0.5631317496299744, + "y": 0.9504860639572144, + "z": 4.7774834632873535 + }, + "size": { + "x": 0.1389460563659668, + "y": 0.026039838790893555, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.632604718208313, + 0.9374668598175049, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374669790267944, + 4.814262866973877 + ], + [ + 0.49365875124931335, + 0.9374662637710571, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635051488876343, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635058641433716, + 4.814262390136719 + ], + [ + 0.49365875124931335, + 0.9635059833526611, + 4.814262390136719 + ], + [ + 0.49365878105163574, + 0.9635052680969238, + 4.74070405960083 + ] + ] + } + } + }, + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 7.456660000570992e-07, + "y": 1.0646860599517822, + "z": 5.495603561401367 + }, + "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": 2.8562917709350586, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Hung_48x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.12203670293092728, + 1.936255693435669, + 6.766789436340332 + ], + [ + 0.12203670293092728, + 1.936255693435669, + 5.494818687438965 + ], + [ + 0.12203670293092728, + 1.0637445449829102, + 6.766789436340332 + ], + [ + 0.12203670293092728, + 1.0637445449829102, + 5.494818687438965 + ], + [ + -0.12203680723905563, + 1.936255693435669, + 6.766789436340332 + ], + [ + -0.12203680723905563, + 1.936255693435669, + 5.494818687438965 + ], + [ + -0.12203680723905563, + 1.0637445449829102, + 6.766789436340332 + ], + [ + -0.12203680723905563, + 1.0637445449829102, + 5.494818687438965 + ] + ], + "center": { + "x": -5.21540641784668e-08, + "y": 1.5000001192092896, + "z": 6.130804061889648 + }, + "size": { + "x": 0.2440735101699829, + "y": 0.8725111484527588, + "z": 1.2719707489013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 0.2878253757953644, + "y": 0.0066471099853515625, + "z": 7.819133758544922 + }, + "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": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Lettuce|surface|6|12", + "Egg|surface|6|22" + ], + "distance": 3.0535800457000732, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7314099073410034, + 1.6926056146621704, + 8.255000114440918 + ], + [ + 0.7314099073410034, + 1.6926056146621704, + 7.401545524597168 + ], + [ + 0.7314099073410034, + 0.0, + 8.255000114440918 + ], + [ + 0.7314099073410034, + 0.0, + 7.401545524597168 + ], + [ + 0.025000035762786865, + 1.6926056146621704, + 8.255000114440918 + ], + [ + 0.025000035762786865, + 1.6926056146621704, + 7.401545524597168 + ], + [ + 0.025000035762786865, + 0.0, + 8.255000114440918 + ], + [ + 0.025000035762786865, + 0.0, + 7.401545524597168 + ] + ], + "center": { + "x": 0.37820497155189514, + "y": 0.8463028073310852, + "z": 7.828272819519043 + }, + "size": { + "x": 0.7064098715782166, + "y": 1.6926056146621704, + "z": 0.85345458984375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|surface|6|20", + "object_info": { + "name": "SaltShaker|surface|6|20", + "position": { + "x": 0.5631306171417236, + "y": 0.9374640583992004, + "z": 5.083537578582764 + }, + "rotation": { + "x": -0.0052022612653672695, + "y": 89.9997329711914, + "z": 359.9933166503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.4787824153900146, + "objectType": "SaltShaker", + "objectId": "SaltShaker|surface|6|20", + "assetId": "Salt_Shaker_2", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6031076312065125, + 1.1344873905181885, + 5.120771408081055 + ], + [ + 0.6031076312065125, + 1.1344873905181885, + 5.046280860900879 + ], + [ + 0.6031076312065125, + 0.9374566078186035, + 5.120771408081055 + ], + [ + 0.6031076312065125, + 0.9374566078186035, + 5.046280860900879 + ], + [ + 0.528911292552948, + 1.1344873905181885, + 5.120771408081055 + ], + [ + 0.528911292552948, + 1.1344873905181885, + 5.046280860900879 + ], + [ + 0.528911292552948, + 0.9374566078186035, + 5.120771408081055 + ], + [ + 0.528911292552948, + 0.9374566078186035, + 5.046280860900879 + ] + ], + "center": { + "x": 0.5660094618797302, + "y": 1.035971999168396, + "z": 5.083526134490967 + }, + "size": { + "x": 0.07419633865356445, + "y": 0.19703078269958496, + "z": 0.07449054718017578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6031076312065125, + 0.9374633431434631, + 5.046304225921631 + ], + [ + 0.6031072735786438, + 0.9374720454216003, + 5.120771408081055 + ], + [ + 0.5289291739463806, + 0.9374653100967407, + 5.1207709312438965 + ], + [ + 0.5289295315742493, + 0.9374566078186035, + 5.046303749084473 + ], + [ + 0.6030897498130798, + 1.1344786882400513, + 5.046281337738037 + ], + [ + 0.6030893921852112, + 1.1344873905181885, + 5.120748043060303 + ], + [ + 0.528911292552948, + 1.134480595588684, + 5.120748043060303 + ], + [ + 0.5289115905761719, + 1.1344718933105469, + 5.046280860900879 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|13", + "object_info": { + "name": "Toaster|surface|6|13", + "position": { + "x": 0.4096106290817261, + "y": 0.9374666810035706, + "z": 4.624452590942383 + }, + "rotation": { + "x": 1.4111724340182263e-05, + "y": 89.99987030029297, + "z": 2.0073312043678015e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.849764108657837, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|13", + "assetId": "Toaster_9", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5902489423751831, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.5298686027526855 + ] + ], + "center": { + "x": 0.41897130012512207, + "y": 1.040675163269043, + "z": 4.624452590942383 + }, + "size": { + "x": 0.34255528450012207, + "y": 0.20641756057739258, + "z": 0.18916797637939453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5902494788169861, + 0.9374665021896362, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 0.9374664425849915, + 4.719037055969238 + ], + [ + 0.2476929873228073, + 0.9374665021896362, + 4.71903657913208 + ], + [ + 0.24769340455532074, + 0.937466561794281, + 4.529868125915527 + ], + [ + 0.5902495384216309, + 1.143884539604187, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 1.1438844203948975, + 4.719037055969238 + ], + [ + 0.2476930320262909, + 1.143884539604187, + 4.71903657913208 + ], + [ + 0.24769344925880432, + 1.143884539604187, + 4.5298686027526855 + ] + ] + } + } + }, + { + "objectId": "Lettuce|surface|6|19", + "object_info": { + "name": "Lettuce|surface|6|19", + "position": { + "x": 0.4867231547832489, + "y": 0.9966291189193726, + "z": 5.237242698669434 + }, + "rotation": { + "x": 0.33815568685531616, + "y": 90.00554656982422, + "z": 0.6548462510108948 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 2.481379508972168, + "objectType": "Lettuce", + "objectId": "Lettuce|surface|6|19", + "assetId": "Lettuce_29", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5925901532173157, + 1.0818521976470947, + 5.313623428344727 + ], + [ + 0.5925901532173157, + 1.0818521976470947, + 5.168584823608398 + ], + [ + 0.5925901532173157, + 0.9374537467956543, + 5.313623428344727 + ], + [ + 0.5925901532173157, + 0.9374537467956543, + 5.168584823608398 + ], + [ + 0.3852663040161133, + 1.0818521976470947, + 5.313623428344727 + ], + [ + 0.3852663040161133, + 1.0818521976470947, + 5.168584823608398 + ], + [ + 0.3852663040161133, + 0.9374537467956543, + 5.313623428344727 + ], + [ + 0.3852663040161133, + 0.9374537467956543, + 5.168584823608398 + ] + ], + "center": { + "x": 0.4889282286167145, + "y": 1.0096529722213745, + "z": 5.2411041259765625 + }, + "size": { + "x": 0.2073238492012024, + "y": 0.14439845085144043, + "z": 0.14503860473632812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.59222412109375, + 0.937721848487854, + 5.16776180267334 + ], + [ + 0.5922284126281738, + 0.9360646605491638, + 5.3127522468566895 + ], + [ + 0.38484418392181396, + 0.9372886419296265, + 5.312772274017334 + ], + [ + 0.3848399221897125, + 0.9389458298683167, + 5.167781829833984 + ], + [ + 0.5930750370025635, + 1.081871509552002, + 5.169409275054932 + ], + [ + 0.5930793285369873, + 1.0802143812179565, + 5.314399719238281 + ], + [ + 0.38569509983062744, + 1.0814383029937744, + 5.314419746398926 + ], + [ + 0.3856908679008484, + 1.0830955505371094, + 5.169429302215576 + ] + ] + } + } + }, + { + "objectId": "PaperTowelRoll|surface|6|24", + "object_info": { + "name": "PaperTowelRoll|surface|6|24", + "position": { + "x": 0.10260233283042908, + "y": 1.044922113418579, + "z": 4.777514457702637 + }, + "rotation": { + "x": 0.015799662098288536, + "y": 89.99725341796875, + "z": 0.015023683197796345 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.2199999988079071, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.032761573791504, + "objectType": "PaperTowelRoll", + "objectId": "PaperTowelRoll|surface|6|24", + "assetId": "Paper_Towel_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.13355273008346558, + 1.1523816585540771, + 4.824245452880859 + ], + [ + 0.13355273008346558, + 1.1523816585540771, + 4.746564865112305 + ], + [ + 0.13355273008346558, + 0.937462568283081, + 4.824245452880859 + ], + [ + 0.13355273008346558, + 0.937462568283081, + 4.746564865112305 + ], + [ + 0.06860710680484772, + 1.1523816585540771, + 4.824245452880859 + ], + [ + 0.06860710680484772, + 1.1523816585540771, + 4.746564865112305 + ], + [ + 0.06860710680484772, + 0.937462568283081, + 4.824245452880859 + ], + [ + 0.06860710680484772, + 0.937462568283081, + 4.746564865112305 + ] + ], + "center": { + "x": 0.10107991844415665, + "y": 1.044922113418579, + "z": 4.785405158996582 + }, + "size": { + "x": 0.06494562327861786, + "y": 0.2149190902709961, + "z": 0.07768058776855469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.13349436223506927, + 0.9374739527702332, + 4.746567726135254 + ], + [ + 0.133490651845932, + 0.9374536275863647, + 4.824192523956299 + ], + [ + 0.06860677897930145, + 0.9374715089797974, + 4.824189186096191 + ], + [ + 0.06861050426959991, + 0.9374918937683105, + 4.7465643882751465 + ], + [ + 0.1335536241531372, + 1.1523693799972534, + 4.746623992919922 + ], + [ + 0.13354989886283875, + 1.1523491144180298, + 4.824248790740967 + ], + [ + 0.06866603344678879, + 1.1523669958114624, + 4.824245452880859 + ], + [ + 0.06866975128650665, + 1.152387261390686, + 4.7466206550598145 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|25", + "object_info": { + "name": "SprayBottle|surface|6|25", + "position": { + "x": 0.4096115231513977, + "y": 0.9369469881057739, + "z": 4.471437931060791 + }, + "rotation": { + "x": 0.014869173988699913, + "y": 89.99882507324219, + "z": 0.040896009653806686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9397268295288086, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|25", + "assetId": "Spray_Bottle_4", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4697638154029846, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.455009460449219 + ] + ], + "center": { + "x": 0.4135154187679291, + "y": 1.0601979494094849, + "z": 4.471508979797363 + }, + "size": { + "x": 0.11249679327011108, + "y": 0.24551916122436523, + "z": 0.03299903869628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.469733864068985, + 0.9374619126319885, + 4.455012321472168 + ], + [ + 0.46973317861557007, + 0.937438428401947, + 4.4878668785095215 + ], + [ + 0.35726696252822876, + 0.937467634677887, + 4.4878644943237305 + ], + [ + 0.3572676181793213, + 0.9374910593032837, + 4.455009937286377 + ], + [ + 0.4697975814342499, + 1.1829599142074585, + 4.4551873207092285 + ], + [ + 0.46979689598083496, + 1.1829365491867065, + 4.488041877746582 + ], + [ + 0.35733065009117126, + 1.1829657554626465, + 4.488039970397949 + ], + [ + 0.3573313355445862, + 1.1829891204833984, + 4.4551849365234375 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.025398969650268555, + "y": 5.960464477539063e-08, + "z": 4.1660356521606445 + }, + "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": [ + "Spatula|surface|6|17", + "SaltShaker|surface|6|20", + "Vase|surface|6|15", + "Toaster|surface|6|13", + "SoapBottle|surface|6|21", + "Spatula|surface|6|16", + "PaperTowelRoll|surface|6|24", + "SprayBottle|surface|6|25", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "DishSponge|surface|6|18" + ], + "distance": 3.546570062637329, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_4x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6355515718460083, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.6355515718460083, + 0.0, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.0, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.0, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.0, + 4.164999961853027 + ] + ], + "center": { + "x": 0.3302757740020752, + "y": 0.4687333106994629, + "z": 4.775140762329102 + }, + "size": { + "x": 0.6105515956878662, + "y": 0.9374666213989258, + "z": 1.2202816009521484 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.14499568939209 + }, + "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": 2.742511749267578, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6266024112701416, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.144999980926514 + ] + ], + "center": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.160870552062988 + }, + "size": { + "x": 0.922407865524292, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|surface|6|21", + "object_info": { + "name": "SoapBottle|surface|6|21", + "position": { + "x": 0.48637279868125916, + "y": 0.9395943880081177, + "z": 4.318403244018555 + }, + "rotation": { + "x": 0.008398315869271755, + "y": 89.99995422363281, + "z": -0.0027105396147817373 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9759979248046875, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|21", + "assetId": "Soap_Bottle_21", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5462433099746704, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.259096622467041 + ] + ], + "center": { + "x": 0.4863945245742798, + "y": 1.0629488229751587, + "z": 4.318946838378906 + }, + "size": { + "x": 0.11969757080078125, + "y": 0.2509732246398926, + "z": 0.11970043182373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5462232232093811, + 0.9374562501907349, + 4.259103298187256 + ], + [ + 0.5462231636047363, + 0.9374619126319885, + 4.378803253173828 + ], + [ + 0.4265255630016327, + 0.9374794960021973, + 4.378803253173828 + ], + [ + 0.42652565240859985, + 0.9374738335609436, + 4.259103298187256 + ], + [ + 0.5462599992752075, + 1.1884355545043945, + 4.259091377258301 + ], + [ + 0.5462599396705627, + 1.188441276550293, + 4.378791332244873 + ], + [ + 0.4265623688697815, + 1.188458800315857, + 4.378791332244873 + ], + [ + 0.42656242847442627, + 1.1884530782699585, + 4.259091377258301 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|17", + "object_info": { + "name": "Spatula|surface|6|17", + "position": { + "x": 0.3328872323036194, + "y": 0.9448754191398621, + "z": 4.930285453796387 + }, + "rotation": { + "x": 0.19171346724033356, + "y": 89.99823760986328, + "z": 358.8579406738281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.754270553588867, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|17", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5536202788352966, + 0.9545079469680786, + 4.962465286254883 + ], + [ + 0.5536202788352966, + 0.9545079469680786, + 4.898073196411133 + ], + [ + 0.5536202788352966, + 0.9362014532089233, + 4.962465286254883 + ], + [ + 0.5536202788352966, + 0.9362014532089233, + 4.898073196411133 + ], + [ + 0.25608986616134644, + 0.9545079469680786, + 4.962465286254883 + ], + [ + 0.25608986616134644, + 0.9545079469680786, + 4.898073196411133 + ], + [ + 0.25608986616134644, + 0.9362014532089233, + 4.962465286254883 + ], + [ + 0.25608986616134644, + 0.9362014532089233, + 4.898073196411133 + ] + ], + "center": { + "x": 0.40485507249832153, + "y": 0.945354700088501, + "z": 4.930269241333008 + }, + "size": { + "x": 0.2975304126739502, + "y": 0.018306493759155273, + "z": 0.06439208984375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5535707473754883, + 0.9358914494514465, + 4.89841890335083 + ], + [ + 0.5535731315612793, + 0.937168300151825, + 4.962469100952148 + ], + [ + 0.25606289505958557, + 0.9381638169288635, + 4.962459564208984 + ], + [ + 0.2560606002807617, + 0.9368869662284851, + 4.898409843444824 + ], + [ + 0.5536288022994995, + 0.9532293081283569, + 4.898073196411133 + ], + [ + 0.553631067276001, + 0.9545061588287354, + 4.962123394012451 + ], + [ + 0.2561209201812744, + 0.9555016756057739, + 4.962114334106445 + ], + [ + 0.2561185956001282, + 0.9542248249053955, + 4.898064136505127 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|16", + "object_info": { + "name": "Spatula|surface|6|16", + "position": { + "x": 0.1793704628944397, + "y": 0.9448747634887695, + "z": 4.3181471824646 + }, + "rotation": { + "x": 0.19126881659030914, + "y": 89.99832916259766, + "z": 358.85308837890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.215916156768799, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|16", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.40010350942611694, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.285933971405029 + ] + ], + "center": { + "x": 0.25133830308914185, + "y": 0.9453555345535278, + "z": 4.318130970001221 + }, + "size": { + "x": 0.2975304126739502, + "y": 0.018312454223632812, + "z": 0.06439399719238281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.40005403757095337, + 0.9358898401260376, + 4.286281108856201 + ], + [ + 0.4000564217567444, + 0.9371721148490906, + 4.350330829620361 + ], + [ + 0.10254623740911484, + 0.9381652474403381, + 4.350322246551514 + ], + [ + 0.10254382342100143, + 0.9368829727172852, + 4.286272048950195 + ], + [ + 0.4001119136810303, + 0.9532276391983032, + 4.285933971405029 + ], + [ + 0.4001142978668213, + 0.9545099139213562, + 4.3499836921691895 + ], + [ + 0.10260412842035294, + 0.9555031061172485, + 4.349975109100342 + ], + [ + 0.10260171443223953, + 0.9542208313941956, + 4.285924911499023 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.4000000953674316, + "y": 0.9009997844696045, + "z": 6.800000190734863 + }, + "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": 3.4000000953674316, + "y": 1.5759997367858887, + "z": 6.800000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Spatula|surface|6|16", + "SprayBottle|surface|6|25", + "Toaster|surface|6|13", + "Painting|6|5", + "SoapBottle|surface|6|21", + "CounterTop|6|0", + "DishSponge|surface|6|18" + ], + "different_object": [ + "window|6|0", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "PaperTowelRoll|surface|6|24", + "Painting|6|4", + "SaltShaker|surface|6|20", + "Spatula|surface|6|17", + "Fridge|6|1", + "Vase|surface|6|15" + ] +} \ No newline at end of file diff --git a/train/train1708/1/1_depth_npy.npy b/train/train1708/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..680f286d53006dcbdbffd27ee4b251dcc59898d8 --- /dev/null +++ b/train/train1708/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb876dccfe24b715f1feecc38902724fc8a52565861951bbb570dde49e39bbbc +size 3145856 diff --git a/train/train1708/1/1_semantic_sensor_npy.npy b/train/train1708/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..42a5039fbc540a2144a6cd67a1fcab2efa289372 --- /dev/null +++ b/train/train1708/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4312ff38a92d1ef816c321baf19d6f6385b1cf7815f4ed2f4a0963bb5c6735e +size 2359424 diff --git a/train/train1708/1/depth_0.png b/train/train1708/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..29c3fcde5d76e68dad9395677c4b8b8e38b2910a Binary files /dev/null and b/train/train1708/1/depth_0.png differ diff --git a/train/train1708/1/depth_1.png b/train/train1708/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..eda760555e2d2644c4931d6385887b28c936297e Binary files /dev/null and b/train/train1708/1/depth_1.png differ diff --git a/train/train1708/1/mask_questions.jsonl b/train/train1708/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0685fa4dce4745a02a7dc7a86c8733cace2d3dd3 --- /dev/null +++ b/train/train1708/1/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 4853, "folder_dir": "train1708/1", "pair_name": "0-1:Painting|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. Painting\nB. Window\nC. Pillow\nD. Spatula", "answer": "A", "object_name": "Painting", "image_1": "train1708/1/rgb_0.png", "image_2": "train1708/1/rgb_1.png", "mask_image": "train1708/1/rgb_1_mask_Painting|6|5.png", "options": ["Painting", "Window", "Pillow", "Spatula"]} +{"id": 4854, "folder_dir": "train1708/1", "pair_name": "1-0:Toaster|surface|6|13", "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. PaperTowelRoll\nB. Spatula\nC. Toaster\nD. SaltShaker", "answer": "C", "object_name": "Toaster", "image_1": "train1708/1/rgb_1.png", "image_2": "train1708/1/rgb_0.png", "mask_image": "train1708/1/rgb_0_mask_Toaster|surface|6|13.png", "options": ["PaperTowelRoll", "Spatula", "Toaster", "SaltShaker"]} +{"id": 4855, "folder_dir": "train1708/1", "pair_name": "1-0:Painting|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. Fridge\nB. Lettuce\nC. Painting\nD. Spatula", "answer": "C", "object_name": "Painting", "image_1": "train1708/1/rgb_1.png", "image_2": "train1708/1/rgb_0.png", "mask_image": "train1708/1/rgb_0_mask_Painting|6|5.png", "options": ["Fridge", "Lettuce", "Painting", "Spatula"]} diff --git a/train/train1708/1/questions_distance.jsonl b/train/train1708/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c9a26ba81721a72abb2e09489cf397966af1135 --- /dev/null +++ b/train/train1708/1/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1965, "folder_dir": "train1708/1", "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. DishSponge\nB. Vase\nC. Toaster\nD. Other\n", "answer": "A", "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": "DishSponge", "semantic_id": "DishSponge|surface|6|18", "distance": 0.5350823384347726, "com": {"x": 0.5631317496299744, "y": 0.9504860639572144, "z": 4.7774834632873535}}, {"text": "Vase", "semantic_id": "Vase|surface|6|15", "distance": 0.5907187507421975, "com": {"x": 0.33310073614120483, "y": 0.9725505113601685, "z": 5.083538055419922}}, {"text": "Toaster", "semantic_id": "Toaster|surface|6|13", "distance": 0.5980729922600088, "com": {"x": 0.41897130012512207, "y": 1.040675163269043, "z": 4.624452590942383}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1708/1/rgb_0.png", "image_2": "train1708/1/rgb_1.png"} diff --git a/train/train1708/1/rgb_0.png b/train/train1708/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e212d78e989c7437e13bc7a658fdbe97a43fe9ea --- /dev/null +++ b/train/train1708/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61580abcdad48714b3a34177815917cbad9e9ea689e573a2087bbbbd34864640 +size 667899 diff --git a/train/train1708/1/rgb_0_mask_Painting|6|5.png b/train/train1708/1/rgb_0_mask_Painting|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..61d33f53312c91ac7463fb65d06dcb215db1ade2 --- /dev/null +++ b/train/train1708/1/rgb_0_mask_Painting|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ee0c6bfac6e024d7e468d230f513377f0a476522f6ca6fc396a624c63070dc0 +size 568596 diff --git a/train/train1708/1/rgb_0_mask_Toaster|surface|6|13.png b/train/train1708/1/rgb_0_mask_Toaster|surface|6|13.png new file mode 100644 index 0000000000000000000000000000000000000000..3cae1cedd0ae330d24cc1597f4db3092b13dde28 --- /dev/null +++ b/train/train1708/1/rgb_0_mask_Toaster|surface|6|13.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b33dd37242d1953f93978393e7e99e325e76e30e93bb17f3e2945a46a8cbb4c +size 596600 diff --git a/train/train1708/1/rgb_1.png b/train/train1708/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cf5379760a06d00b15152f801df8d7f1cf884bb3 --- /dev/null +++ b/train/train1708/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:164d86e54e17aae3acfda1a795b23839a1a378f113a0e5d084205a3c0056f233 +size 545389 diff --git a/train/train1708/1/rgb_1_mask_Painting|6|5.png b/train/train1708/1/rgb_1_mask_Painting|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..0bd515451a00c596ed11cf577b30f8d6a1c03826 --- /dev/null +++ b/train/train1708/1/rgb_1_mask_Painting|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb685654217dcb3b608723b02efc50f3b87f0dcb6b9f38a051be3ec50c4a69c3 +size 472453 diff --git a/train/train1708/1/semantic_0.png b/train/train1708/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c3653183062984fb4fdfc7b86eb3cbd6ffe905d2 Binary files /dev/null and b/train/train1708/1/semantic_0.png differ diff --git a/train/train1708/1/semantic_1.png b/train/train1708/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c2659f3b5988fef60ffc402d9bca65ed75762137 Binary files /dev/null and b/train/train1708/1/semantic_1.png differ diff --git a/train/train1708/2/0.json b/train/train1708/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..eb9899f7caa8d01d89aa7cc75a10d783ac7469d9 --- /dev/null +++ b/train/train1708/2/0.json @@ -0,0 +1,847 @@ +{ + "object": [ + { + "objectId": "Television|6|3", + "object_info": { + "name": "Television|6|3", + "position": { + "x": 5.1513285636901855, + "y": 1.4249145984649658, + "z": 6.197158336639404 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4583852291107178, + "objectType": "Television", + "objectId": "Television|6|3", + "assetId": "Television_27", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002819538116455, + 1.9521044492721558, + 6.204999923706055 + ], + [ + 6.002819538116455, + 1.9521044492721558, + 6.092864036560059 + ], + [ + 6.002819538116455, + 0.7423349618911743, + 6.204999923706055 + ], + [ + 6.002819538116455, + 0.7423349618911743, + 6.092864036560059 + ], + [ + 4.299837589263916, + 1.9521044492721558, + 6.204999923706055 + ], + [ + 4.299837589263916, + 1.9521044492721558, + 6.092864036560059 + ], + [ + 4.299837589263916, + 0.7423349618911743, + 6.204999923706055 + ], + [ + 4.299837589263916, + 0.7423349618911743, + 6.092864036560059 + ] + ], + "center": { + "x": 5.1513285636901855, + "y": 1.347219705581665, + "z": 6.148931980133057 + }, + "size": { + "x": 1.702981948852539, + "y": 1.2097694873809814, + "z": 0.1121358871459961 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|7|4", + "object_info": { + "name": "DogBed|7|4", + "position": { + "x": 3.773636817932129, + "y": 0.003956407308578491, + "z": 2.729346752166748 + }, + "rotation": { + "x": 0.0014191973023116589, + "y": 269.9998779296875, + "z": -0.00016524105740245432 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.7745885848999023, + "objectType": "DogBed", + "objectId": "DogBed|7|4", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.193436622619629, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 4.193436622619629, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 2.2371573448181152 + ] + ], + "center": { + "x": 3.7760467529296875, + "y": 0.15798266232013702, + "z": 2.733346939086914 + }, + "size": { + "x": 0.8347797393798828, + "y": 0.3159649074077606, + "z": 0.9923791885375977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.358659505844116, + -4.896894097328186e-06, + 3.2295355796813965 + ], + [ + 3.358661413192749, + -2.0349398255348206e-06, + 2.237156391143799 + ], + [ + 4.193441867828369, + 1.8642283976078033e-05, + 2.2371578216552734 + ], + [ + 4.193439960479736, + 1.5780329704284668e-05, + 3.22953724861145 + ], + [ + 3.358651638031006, + 0.31594735383987427, + 3.229536533355713 + ], + [ + 3.3586537837982178, + 0.3159502148628235, + 2.237157106399536 + ], + [ + 4.193434238433838, + 0.31597089767456055, + 2.23715877532959 + ], + [ + 4.193432331085205, + 0.31596803665161133, + 3.2295382022857666 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 5.957183361053467, + "y": 0.0033270269632339478, + "z": 2.2842347621917725 + }, + "rotation": { + "x": 0.9100496172904968, + "y": 270.00201416015625, + "z": 1.2968323062523268e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 5.178719520568848, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.177154541015625, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 1.9394149780273438 + ] + ], + "center": { + "x": 5.941217422485352, + "y": 0.25510361790657043, + "z": 2.2786941528320312 + }, + "size": { + "x": 0.4718742370605469, + "y": 0.5102071166038513, + "z": 0.678558349609375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.713083267211914, + -0.005755754187703133, + 2.61797833442688 + ], + [ + 5.713059425354004, + -0.005755908787250519, + 1.9394176006317139 + ], + [ + 6.18495512008667, + 0.0017400130163878202, + 1.9394009113311768 + ], + [ + 6.18497896194458, + 0.0017401666846126318, + 2.6179616451263428 + ], + [ + 5.704996109008789, + 0.5033749938011169, + 2.61797833442688 + ], + [ + 5.704971790313721, + 0.5033748745918274, + 1.939417839050293 + ], + [ + 6.176867485046387, + 0.5108708143234253, + 1.9394010305404663 + ], + [ + 6.176891803741455, + 0.5108709335327148, + 2.6179616451263428 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.025398969650268555, + "y": 5.960464477539063e-08, + "z": 4.1660356521606445 + }, + "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": [ + "Spatula|surface|6|17", + "SaltShaker|surface|6|20", + "Vase|surface|6|15", + "Toaster|surface|6|13", + "SoapBottle|surface|6|21", + "Spatula|surface|6|16", + "PaperTowelRoll|surface|6|24", + "SprayBottle|surface|6|25", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "DishSponge|surface|6|18" + ], + "distance": 3.546570062637329, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_4x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6355515718460083, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.6355515718460083, + 0.0, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.0, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.0, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.0, + 4.164999961853027 + ] + ], + "center": { + "x": 0.3302757740020752, + "y": 0.4687333106994629, + "z": 4.775140762329102 + }, + "size": { + "x": 0.6105515956878662, + "y": 0.9374666213989258, + "z": 1.2202816009521484 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 3.479842185974121, + "y": -0.0005981922149658203, + "z": 4.141299247741699 + }, + "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": 2.4066922664642334, + "objectType": "Doorframe", + "objectId": "door|6|7", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.4193291664123535, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 5.4193291664123535, + 0.0, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 0.0, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 0.0, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 0.0, + 4.090341091156006 + ] + ], + "center": { + "x": 4.4479241371154785, + "y": 1.0435371398925781, + "z": 4.139999866485596 + }, + "size": { + "x": 1.94281005859375, + "y": 2.0870742797851562, + "z": 0.09931755065917969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 4.827890872955322, + "y": 0.004547119140625, + "z": 0.6480333209037781 + }, + "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|7|29" + ], + "distance": 6.041795253753662, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 6.184995651245117, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 0.02498549222946167 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 0.02498549222946167 + ] + ], + "center": { + "x": 4.825891494750977, + "y": 0.585404098033905, + "z": 0.6306344866752625 + }, + "size": { + "x": 2.7182083129882812, + "y": 1.1708118915557861, + "z": 1.2112979888916016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 0.02498549222946167 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.799999952316284, + "y": 0.9009997844696045, + "z": 6.300000190734863 + }, + "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": 3.799999952316284, + "y": 1.5759997367858887, + "z": 6.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DogBed|7|4", + "Sofa|7|1", + "door|6|7", + "GarbageCan|7|2" + ], + "different_object": [ + "CounterTop|6|0", + "Television|6|3" + ] +} \ No newline at end of file diff --git a/train/train1708/2/0_depth_npy.npy b/train/train1708/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..85eb22cfe1a1070a61a266cf85c071e7a4d7419a --- /dev/null +++ b/train/train1708/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26b22e1c766fed2b79b69058391fa4ae0d879801f440289e242b09ff045d3d50 +size 3145856 diff --git a/train/train1708/2/0_semantic_sensor_npy.npy b/train/train1708/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbd0196311cbc1f16cc25ba3478f00f1bda924c7 --- /dev/null +++ b/train/train1708/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69a5aa2ea855297ff2c669308e91c458b7f42057affca627ab2906628f1f2d72 +size 2359424 diff --git a/train/train1708/2/1.json b/train/train1708/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e4baadcf95a389cf96dce5adc0163898de791a7e --- /dev/null +++ b/train/train1708/2/1.json @@ -0,0 +1,991 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 0.9965918064117432 + }, + "rotation": { + "x": -8.617769708507694e-06, + "y": 269.99993896484375, + "z": 2.107437921949895e-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": 5.9684367179870605, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.726701259613037, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 0.8122833967208862 + ] + ], + "center": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 1.0051735639572144 + }, + "size": { + "x": 0.31609344482421875, + "y": 0.13722825050354004, + "z": 0.38578033447265625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.410607814788818, + 0.5510960221290588, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.5510960221290588, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.5510959625244141, + 1.198063850402832 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.6883241534233093, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.6883241534233093, + 1.198063850402832 + ] + ] + } + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 6.2099995613098145, + "y": 1.042765736579895, + "z": 3.7707598209381104 + }, + "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": 4.258911609649658, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Hung_36x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.331045150756836, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 2.8066935539245605 + ] + ], + "center": { + "x": 6.210000038146973, + "y": 1.499281406402588, + "z": 3.288835048675537 + }, + "size": { + "x": 0.24209022521972656, + "y": 0.9133358001708984, + "z": 0.9642829895019531 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|7|4", + "object_info": { + "name": "DogBed|7|4", + "position": { + "x": 3.773636817932129, + "y": 0.003956407308578491, + "z": 2.729346752166748 + }, + "rotation": { + "x": 0.0014191973023116589, + "y": 269.9998779296875, + "z": -0.00016524105740245432 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.7745885848999023, + "objectType": "DogBed", + "objectId": "DogBed|7|4", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.193436622619629, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 4.193436622619629, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 2.2371573448181152 + ] + ], + "center": { + "x": 3.7760467529296875, + "y": 0.15798266232013702, + "z": 2.733346939086914 + }, + "size": { + "x": 0.8347797393798828, + "y": 0.3159649074077606, + "z": 0.9923791885375977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.358659505844116, + -4.896894097328186e-06, + 3.2295355796813965 + ], + [ + 3.358661413192749, + -2.0349398255348206e-06, + 2.237156391143799 + ], + [ + 4.193441867828369, + 1.8642283976078033e-05, + 2.2371578216552734 + ], + [ + 4.193439960479736, + 1.5780329704284668e-05, + 3.22953724861145 + ], + [ + 3.358651638031006, + 0.31594735383987427, + 3.229536533355713 + ], + [ + 3.3586537837982178, + 0.3159502148628235, + 2.237157106399536 + ], + [ + 4.193434238433838, + 0.31597089767456055, + 2.23715877532959 + ], + [ + 4.193432331085205, + 0.31596803665161133, + 3.2295382022857666 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 5.957183361053467, + "y": 0.0033270269632339478, + "z": 2.2842347621917725 + }, + "rotation": { + "x": 0.9100496172904968, + "y": 270.00201416015625, + "z": 1.2968323062523268e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 5.178719520568848, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.177154541015625, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 1.9394149780273438 + ] + ], + "center": { + "x": 5.941217422485352, + "y": 0.25510361790657043, + "z": 2.2786941528320312 + }, + "size": { + "x": 0.4718742370605469, + "y": 0.5102071166038513, + "z": 0.678558349609375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.713083267211914, + -0.005755754187703133, + 2.61797833442688 + ], + [ + 5.713059425354004, + -0.005755908787250519, + 1.9394176006317139 + ], + [ + 6.18495512008667, + 0.0017400130163878202, + 1.9394009113311768 + ], + [ + 6.18497896194458, + 0.0017401666846126318, + 2.6179616451263428 + ], + [ + 5.704996109008789, + 0.5033749938011169, + 2.61797833442688 + ], + [ + 5.704971790313721, + 0.5033748745918274, + 1.939417839050293 + ], + [ + 6.176867485046387, + 0.5108708143234253, + 1.9394010305404663 + ], + [ + 6.176891803741455, + 0.5108709335327148, + 2.6179616451263428 + ] + ] + } + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.14499568939209 + }, + "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": 2.742511749267578, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6266024112701416, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.144999980926514 + ] + ], + "center": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.160870552062988 + }, + "size": { + "x": 0.922407865524292, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 3.479842185974121, + "y": -0.0005981922149658203, + "z": 4.141299247741699 + }, + "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": 2.4066922664642334, + "objectType": "Doorframe", + "objectId": "door|6|7", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.4193291664123535, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 5.4193291664123535, + 0.0, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 0.0, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 0.0, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 0.0, + 4.090341091156006 + ] + ], + "center": { + "x": 4.4479241371154785, + "y": 1.0435371398925781, + "z": 4.139999866485596 + }, + "size": { + "x": 1.94281005859375, + "y": 2.0870742797851562, + "z": 0.09931755065917969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 4.827890872955322, + "y": 0.004547119140625, + "z": 0.6480333209037781 + }, + "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|7|29" + ], + "distance": 6.041795253753662, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 6.184995651245117, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 0.02498549222946167 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 0.02498549222946167 + ] + ], + "center": { + "x": 4.825891494750977, + "y": 0.585404098033905, + "z": 0.6306344866752625 + }, + "size": { + "x": 2.7182083129882812, + "y": 1.1708118915557861, + "z": 1.2112979888916016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 0.02498549222946167 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.799999952316284, + "y": 0.9009997844696045, + "z": 6.300000190734863 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.799999952316284, + "y": 1.5759997367858887, + "z": 6.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DogBed|7|4", + "Sofa|7|1", + "door|6|7", + "GarbageCan|7|2" + ], + "different_object": [ + "Painting|6|5", + "Pillow|surface|7|29", + "window|7|0" + ] +} \ No newline at end of file diff --git a/train/train1708/2/1_depth_npy.npy b/train/train1708/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e6d82c25e9644488b3ec17bd953fb26a43389119 --- /dev/null +++ b/train/train1708/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1e8f497bb98dd0c22f867933806ffa47d328f0d07925465893e6d30b89728bd +size 3145856 diff --git a/train/train1708/2/1_semantic_sensor_npy.npy b/train/train1708/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..dadb3ac913a54f7fa316722f1c651fbcf6084bd6 --- /dev/null +++ b/train/train1708/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b11e882440455bfac19bf5a19ad17bf9dbeaf33e96b5fec3282156b2fefb3dd8 +size 2359424 diff --git a/train/train1708/2/depth_0.png b/train/train1708/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..103b199b189d6f3099b0e1e1a4e65e5ae0aca0a4 Binary files /dev/null and b/train/train1708/2/depth_0.png differ diff --git a/train/train1708/2/depth_1.png b/train/train1708/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7d2056ebe97c1269554d475f6a09c08f3a969376 Binary files /dev/null and b/train/train1708/2/depth_1.png differ diff --git a/train/train1708/2/mask_questions.jsonl b/train/train1708/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4cc38c8f4c6dd1a4d87299de99113849adfe8d8 --- /dev/null +++ b/train/train1708/2/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 4856, "folder_dir": "train1708/2", "pair_name": "0-1:DogBed|7|4", "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. DogBed\nB. CounterTop\nC. Television\nD. Sofa", "answer": "A", "object_name": "DogBed", "image_1": "train1708/2/rgb_0.png", "image_2": "train1708/2/rgb_1.png", "mask_image": "train1708/2/rgb_1_mask_DogBed|7|4.png", "options": ["DogBed", "CounterTop", "Television", "Sofa"]} +{"id": 4857, "folder_dir": "train1708/2", "pair_name": "0-1:GarbageCan|7|2", "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. GarbageCan\nC. DogBed\nD. Television", "answer": "B", "object_name": "GarbageCan", "image_1": "train1708/2/rgb_0.png", "image_2": "train1708/2/rgb_1.png", "mask_image": "train1708/2/rgb_1_mask_GarbageCan|7|2.png", "options": ["CounterTop", "GarbageCan", "DogBed", "Television"]} +{"id": 4858, "folder_dir": "train1708/2", "pair_name": "1-0:DogBed|7|4", "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. DogBed\nC. Painting\nD. Sofa", "answer": "B", "object_name": "DogBed", "image_1": "train1708/2/rgb_1.png", "image_2": "train1708/2/rgb_0.png", "mask_image": "train1708/2/rgb_0_mask_DogBed|7|4.png", "options": ["Window", "DogBed", "Painting", "Sofa"]} +{"id": 4859, "folder_dir": "train1708/2", "pair_name": "1-0:Sofa|7|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. DogBed\nB. Painting\nC. Sofa\nD. Window", "answer": "C", "object_name": "Sofa", "image_1": "train1708/2/rgb_1.png", "image_2": "train1708/2/rgb_0.png", "mask_image": "train1708/2/rgb_0_mask_Sofa|7|1.png", "options": ["DogBed", "Painting", "Sofa", "Window"]} +{"id": 4860, "folder_dir": "train1708/2", "pair_name": "1-0:GarbageCan|7|2", "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. DogBed\nB. Window\nC. GarbageCan\nD. Pillow", "answer": "C", "object_name": "GarbageCan", "image_1": "train1708/2/rgb_1.png", "image_2": "train1708/2/rgb_0.png", "mask_image": "train1708/2/rgb_0_mask_GarbageCan|7|2.png", "options": ["DogBed", "Window", "GarbageCan", "Pillow"]} diff --git a/train/train1708/2/questions_distance.jsonl b/train/train1708/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6850857d0ae6d2859b4dcb7b429934b1b7908846 --- /dev/null +++ b/train/train1708/2/questions_distance.jsonl @@ -0,0 +1,4 @@ +{"id": 1966, "folder_dir": "train1708/2", "query": "Which of the following objects is closest to DogBed 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. GarbageCan\nB. Doorframe\nC. Sofa\nD. Other\n", "answer": "B", "src_object": "DogBed", "target_object": "Doorframe", "question": "Which of the following objects is closest to DogBed 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": "GarbageCan", "semantic_id": "GarbageCan|7|2", "distance": 2.2145215429901497, "com": {"x": 5.941217422485352, "y": 0.25510361790657043, "z": 2.2786941528320312}}, {"text": "Doorframe", "semantic_id": "door|6|7", "distance": 1.7928464547440253, "com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}}, {"text": "Sofa", "semantic_id": "Sofa|7|1", "distance": 2.388778500230704, "com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1708/2/rgb_0.png", "image_2": "train1708/2/rgb_1.png"} +{"id": 1967, "folder_dir": "train1708/2", "query": "Which of the following objects is closest to Sofa 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. Pillow\nB. GarbageCan\nC. DogBed\nD. Other\n", "answer": "A", "src_object": "Sofa", "target_object": "Pillow", "question": "Which of the following objects is closest to Sofa 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": "Pillow", "semantic_id": "Pillow|surface|7|29", "distance": 0.8325583214243439, "com": {"x": 5.568654537200928, "y": 0.6197100877761841, "z": 1.0051735639572144}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|7|2", "distance": 2.017213671245972, "com": {"x": 5.941217422485352, "y": 0.25510361790657043, "z": 2.2786941528320312}}, {"text": "DogBed", "semantic_id": "DogBed|7|4", "distance": 2.388778500230704, "com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1708/2/rgb_0.png", "image_2": "train1708/2/rgb_1.png"} +{"id": 1968, "folder_dir": "train1708/2", "query": "Which of the following objects is closest to Doorframe 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. Television\nB. DogBed\nC. Window\nD. Other\n", "answer": "B", "src_object": "Doorframe", "target_object": "DogBed", "question": "Which of the following objects is closest to Doorframe 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": "Television", "semantic_id": "Television|6|3", "distance": 2.1500718883963983, "com": {"x": 5.1513285636901855, "y": 1.347219705581665, "z": 6.148931980133057}}, {"text": "DogBed", "semantic_id": "DogBed|7|4", "distance": 1.7928464547440253, "com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}}, {"text": "Window", "semantic_id": "window|7|0", "distance": 2.009252563649062, "com": {"x": 6.210000038146973, "y": 1.499281406402588, "z": 3.288835048675537}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1708/2/rgb_0.png", "image_2": "train1708/2/rgb_1.png"} +{"id": 1969, "folder_dir": "train1708/2", "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. Sofa\nB. Window\nC. Pillow\nD. Other\n", "answer": "C", "src_object": "GarbageCan", "target_object": "Pillow", "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": "Sofa", "semantic_id": "Sofa|7|1", "distance": 2.017213671245972, "com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}}, {"text": "Window", "semantic_id": "window|7|0", "distance": 1.624994490244279, "com": {"x": 6.210000038146973, "y": 1.499281406402588, "z": 3.288835048675537}}, {"text": "Pillow", "semantic_id": "Pillow|surface|7|29", "distance": 1.3760798202322047, "com": {"x": 5.568654537200928, "y": 0.6197100877761841, "z": 1.0051735639572144}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1708/2/rgb_0.png", "image_2": "train1708/2/rgb_1.png"} diff --git a/train/train1708/2/rgb_0.png b/train/train1708/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a0cef4bf3a85947b41dfb68fe9c440ec62cc3907 --- /dev/null +++ b/train/train1708/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3ad350f0c58e5b837c92de742a9392f428fbb3d7174c1eb719c1d694c293014 +size 671671 diff --git a/train/train1708/2/rgb_0_mask_DogBed|7|4.png b/train/train1708/2/rgb_0_mask_DogBed|7|4.png new file mode 100644 index 0000000000000000000000000000000000000000..1e07b8e3743a112fd920cd8dc5164a7aaef8cd08 --- /dev/null +++ b/train/train1708/2/rgb_0_mask_DogBed|7|4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef1c4a9794141d15f9ca35c9d7d43d1e8678b549fc0de9d21e18301d24865eed +size 583247 diff --git a/train/train1708/2/rgb_0_mask_GarbageCan|7|2.png b/train/train1708/2/rgb_0_mask_GarbageCan|7|2.png new file mode 100644 index 0000000000000000000000000000000000000000..bf32ba29f5f9b540c849d965acaf25ef53060531 --- /dev/null +++ b/train/train1708/2/rgb_0_mask_GarbageCan|7|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea707717bd444e89fd33af0d1c2f05993a08701a2876b8e6660681a7295fd26d +size 593276 diff --git a/train/train1708/2/rgb_0_mask_Sofa|7|1.png b/train/train1708/2/rgb_0_mask_Sofa|7|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9ee8704e5851f28b99786ebf55684d4d1d3f548b --- /dev/null +++ b/train/train1708/2/rgb_0_mask_Sofa|7|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b5f956fcec770515bed522eedcd33c3d9d27d2682edf383d723cced0266d8b2 +size 591174 diff --git a/train/train1708/2/rgb_1.png b/train/train1708/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4f6322a79015072feddd315cd16d7ee20fa35923 --- /dev/null +++ b/train/train1708/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0c2adee6ec8ade1b0d6a38ccc4b06a5d1c39305b059936207cef78bf1cdc188 +size 537666 diff --git a/train/train1708/2/rgb_1_mask_DogBed|7|4.png b/train/train1708/2/rgb_1_mask_DogBed|7|4.png new file mode 100644 index 0000000000000000000000000000000000000000..f6003e63c687b0fe77b061b4d891265620ea440f --- /dev/null +++ b/train/train1708/2/rgb_1_mask_DogBed|7|4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c24ca39a9c47453a10910c5928a0a0bb579c112cf50f60a3b1ad54da37a7ea7e +size 471650 diff --git a/train/train1708/2/rgb_1_mask_GarbageCan|7|2.png b/train/train1708/2/rgb_1_mask_GarbageCan|7|2.png new file mode 100644 index 0000000000000000000000000000000000000000..61e9183f794a0d348a157bb067dc701eb85b94a7 --- /dev/null +++ b/train/train1708/2/rgb_1_mask_GarbageCan|7|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7985b9bd58b0e37ef4471a1d0368e0871b448ba1b6d1b48bca1c1fcb10440f6 +size 478943 diff --git a/train/train1708/2/semantic_0.png b/train/train1708/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..708b7566db3e74c9861a08ab254a1bec161f2baa Binary files /dev/null and b/train/train1708/2/semantic_0.png differ diff --git a/train/train1708/2/semantic_1.png b/train/train1708/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..40d2445bdd38484f423e983e1af6f40aff479aff Binary files /dev/null and b/train/train1708/2/semantic_1.png differ diff --git a/train/train1708/3/0.json b/train/train1708/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..a82ddc1e93b49191fa33db8f921b7f9bcd46571a --- /dev/null +++ b/train/train1708/3/0.json @@ -0,0 +1,1114 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 0.9965918064117432 + }, + "rotation": { + "x": -8.617769708507694e-06, + "y": 269.99993896484375, + "z": 2.107437921949895e-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": 5.9684367179870605, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.726701259613037, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 0.8122833967208862 + ] + ], + "center": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 1.0051735639572144 + }, + "size": { + "x": 0.31609344482421875, + "y": 0.13722825050354004, + "z": 0.38578033447265625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.410607814788818, + 0.5510960221290588, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.5510960221290588, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.5510959625244141, + 1.198063850402832 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.6883241534233093, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.6883241534233093, + 1.198063850402832 + ] + ] + } + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 6.2099995613098145, + "y": 1.042765736579895, + "z": 3.7707598209381104 + }, + "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": 4.258911609649658, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Hung_36x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.331045150756836, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 2.8066935539245605 + ] + ], + "center": { + "x": 6.210000038146973, + "y": 1.499281406402588, + "z": 3.288835048675537 + }, + "size": { + "x": 0.24209022521972656, + "y": 0.9133358001708984, + "z": 0.9642829895019531 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|7|4", + "object_info": { + "name": "DogBed|7|4", + "position": { + "x": 3.773636817932129, + "y": 0.003956407308578491, + "z": 2.729346752166748 + }, + "rotation": { + "x": 0.0014191973023116589, + "y": 269.9998779296875, + "z": -0.00016524105740245432 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.7745885848999023, + "objectType": "DogBed", + "objectId": "DogBed|7|4", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.193436622619629, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 4.193436622619629, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 2.2371573448181152 + ] + ], + "center": { + "x": 3.7760467529296875, + "y": 0.15798266232013702, + "z": 2.733346939086914 + }, + "size": { + "x": 0.8347797393798828, + "y": 0.3159649074077606, + "z": 0.9923791885375977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.358659505844116, + -4.896894097328186e-06, + 3.2295355796813965 + ], + [ + 3.358661413192749, + -2.0349398255348206e-06, + 2.237156391143799 + ], + [ + 4.193441867828369, + 1.8642283976078033e-05, + 2.2371578216552734 + ], + [ + 4.193439960479736, + 1.5780329704284668e-05, + 3.22953724861145 + ], + [ + 3.358651638031006, + 0.31594735383987427, + 3.229536533355713 + ], + [ + 3.3586537837982178, + 0.3159502148628235, + 2.237157106399536 + ], + [ + 4.193434238433838, + 0.31597089767456055, + 2.23715877532959 + ], + [ + 4.193432331085205, + 0.31596803665161133, + 3.2295382022857666 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 5.957183361053467, + "y": 0.0033270269632339478, + "z": 2.2842347621917725 + }, + "rotation": { + "x": 0.9100496172904968, + "y": 270.00201416015625, + "z": 1.2968323062523268e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 5.178719520568848, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.177154541015625, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 1.9394149780273438 + ] + ], + "center": { + "x": 5.941217422485352, + "y": 0.25510361790657043, + "z": 2.2786941528320312 + }, + "size": { + "x": 0.4718742370605469, + "y": 0.5102071166038513, + "z": 0.678558349609375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.713083267211914, + -0.005755754187703133, + 2.61797833442688 + ], + [ + 5.713059425354004, + -0.005755908787250519, + 1.9394176006317139 + ], + [ + 6.18495512008667, + 0.0017400130163878202, + 1.9394009113311768 + ], + [ + 6.18497896194458, + 0.0017401666846126318, + 2.6179616451263428 + ], + [ + 5.704996109008789, + 0.5033749938011169, + 2.61797833442688 + ], + [ + 5.704971790313721, + 0.5033748745918274, + 1.939417839050293 + ], + [ + 6.176867485046387, + 0.5108708143234253, + 1.9394010305404663 + ], + [ + 6.176891803741455, + 0.5108709335327148, + 2.6179616451263428 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.025398969650268555, + "y": 5.960464477539063e-08, + "z": 4.1660356521606445 + }, + "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": [ + "Spatula|surface|6|17", + "SaltShaker|surface|6|20", + "Vase|surface|6|15", + "Toaster|surface|6|13", + "SoapBottle|surface|6|21", + "Spatula|surface|6|16", + "PaperTowelRoll|surface|6|24", + "SprayBottle|surface|6|25", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "DishSponge|surface|6|18" + ], + "distance": 3.546570062637329, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_4x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6355515718460083, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.6355515718460083, + 0.0, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.0, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.0, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.0, + 4.164999961853027 + ] + ], + "center": { + "x": 0.3302757740020752, + "y": 0.4687333106994629, + "z": 4.775140762329102 + }, + "size": { + "x": 0.6105515956878662, + "y": 0.9374666213989258, + "z": 1.2202816009521484 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.14499568939209 + }, + "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": 2.742511749267578, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6266024112701416, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.144999980926514 + ] + ], + "center": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.160870552062988 + }, + "size": { + "x": 0.922407865524292, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 3.479842185974121, + "y": -0.0005981922149658203, + "z": 4.141299247741699 + }, + "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": 2.4066922664642334, + "objectType": "Doorframe", + "objectId": "door|6|7", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.4193291664123535, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 5.4193291664123535, + 0.0, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 0.0, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 0.0, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 0.0, + 4.090341091156006 + ] + ], + "center": { + "x": 4.4479241371154785, + "y": 1.0435371398925781, + "z": 4.139999866485596 + }, + "size": { + "x": 1.94281005859375, + "y": 2.0870742797851562, + "z": 0.09931755065917969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 4.827890872955322, + "y": 0.004547119140625, + "z": 0.6480333209037781 + }, + "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|7|29" + ], + "distance": 6.041795253753662, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 6.184995651245117, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 0.02498549222946167 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 0.02498549222946167 + ] + ], + "center": { + "x": 4.825891494750977, + "y": 0.585404098033905, + "z": 0.6306344866752625 + }, + "size": { + "x": 2.7182083129882812, + "y": 1.1708118915557861, + "z": 1.2112979888916016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 0.02498549222946167 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.799999952316284, + "y": 0.9009997844696045, + "z": 6.599999904632568 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": -1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.799999952316284, + "y": 1.5759997367858887, + "z": 6.599999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|6|5", + "CounterTop|6|0" + ], + "different_object": [ + "GarbageCan|7|2", + "DogBed|7|4", + "door|6|7", + "Sofa|7|1", + "Pillow|surface|7|29", + "window|7|0" + ] +} \ No newline at end of file diff --git a/train/train1708/3/0_depth_npy.npy b/train/train1708/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d97a850b5554422986462d3507f600a592a04800 --- /dev/null +++ b/train/train1708/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f60d3c546bdf803ee6e976dc7815a07fa0c9cf9ab0a369896180799011284ce5 +size 3145856 diff --git a/train/train1708/3/0_semantic_sensor_npy.npy b/train/train1708/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2e3271e652167f53abe9e9aa01a33eb55d2caf9b --- /dev/null +++ b/train/train1708/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22f8246d13f3f38a4e5c8ac352780423635e5cf09567306b753866b497a205d3 +size 2359424 diff --git a/train/train1708/3/1.json b/train/train1708/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..75e637fdd0895b3aed3e87438c3ff347e9776e60 --- /dev/null +++ b/train/train1708/3/1.json @@ -0,0 +1,2322 @@ +{ + "object": [ + { + "objectId": "Fork|surface|6|14", + "object_info": { + "name": "Fork|surface|6|14", + "position": { + "x": 0.2560890316963196, + "y": 0.9384329319000244, + "z": 5.236566066741943 + }, + "rotation": { + "x": 3.6905491924699163e-06, + "y": 89.99987030029297, + "z": 0.000702229212038219 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.692218780517578, + "objectType": "Fork", + "objectId": "Fork|surface|6|14", + "assetId": "RoboTHOR_fork_ai2_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.36127540469169617, + 0.9685249328613281, + 5.251534938812256 + ], + [ + 0.36127540469169617, + 0.9685249328613281, + 5.221597194671631 + ], + [ + 0.36127540469169617, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.36127540469169617, + 0.9374663829803467, + 5.221597194671631 + ], + [ + 0.150902658700943, + 0.9685249328613281, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9685249328613281, + 5.221597194671631 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.221597194671631 + ] + ], + "center": { + "x": 0.2560890316963196, + "y": 0.9529956579208374, + "z": 5.236566066741943 + }, + "size": { + "x": 0.21037274599075317, + "y": 0.031058549880981445, + "z": 0.029937744140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.36127540469169617, + 0.9374667406082153, + 5.221597671508789 + ], + [ + 0.3612753450870514, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.251534461975098 + ], + [ + 0.15090271830558777, + 0.9374667406082153, + 5.221597194671631 + ], + [ + 0.36127540469169617, + 0.9685249328613281, + 5.221598148345947 + ], + [ + 0.3612753450870514, + 0.9685245752334595, + 5.251535415649414 + ], + [ + 0.150902658700943, + 0.9685245752334595, + 5.251534938812256 + ], + [ + 0.15090271830558777, + 0.9685249328613281, + 5.221597671508789 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|6|15", + "object_info": { + "name": "Vase|surface|6|15", + "position": { + "x": 0.3328497111797333, + "y": 0.9375024437904358, + "z": 5.08353853225708 + }, + "rotation": { + "x": 3.007233715379698e-07, + "y": 89.99993896484375, + "z": -2.8061154466740845e-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": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.6841349601745605, + "objectType": "Vase", + "objectId": "Vase|surface|6|15", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4085967540740967, + 1.0076344013214111, + 5.159034729003906 + ], + [ + 0.4085967540740967, + 1.0076344013214111, + 5.0080413818359375 + ], + [ + 0.4085967540740967, + 0.9374666213989258, + 5.159034729003906 + ], + [ + 0.4085967540740967, + 0.9374666213989258, + 5.0080413818359375 + ], + [ + 0.257604718208313, + 1.0076344013214111, + 5.159034729003906 + ], + [ + 0.257604718208313, + 1.0076344013214111, + 5.0080413818359375 + ], + [ + 0.257604718208313, + 0.9374666213989258, + 5.159034729003906 + ], + [ + 0.257604718208313, + 0.9374666213989258, + 5.0080413818359375 + ] + ], + "center": { + "x": 0.33310073614120483, + "y": 0.9725505113601685, + "z": 5.083538055419922 + }, + "size": { + "x": 0.1509920358657837, + "y": 0.07016777992248535, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.40859678387641907, + 0.9374664425849915, + 5.0080413818359375 + ], + [ + 0.4085966646671295, + 0.9374664425849915, + 5.159034729003906 + ], + [ + 0.2576046288013458, + 0.9374664425849915, + 5.159034252166748 + ], + [ + 0.25760477781295776, + 0.9374664425849915, + 5.0080413818359375 + ], + [ + 0.40859678387641907, + 1.0076345205307007, + 5.0080413818359375 + ], + [ + 0.4085966646671295, + 1.0076345205307007, + 5.159034729003906 + ], + [ + 0.2576046288013458, + 1.0076345205307007, + 5.159034252166748 + ], + [ + 0.25760477781295776, + 1.0076345205307007, + 5.0080413818359375 + ] + ] + } + } + }, + { + "objectId": "Painting|6|4", + "object_info": { + "name": "Painting|6|4", + "position": { + "x": 0.006129627116024494, + "y": 1.489218831062317, + "z": 7.077058792114258 + }, + "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": 2.925551652908325, + "objectType": "Painting", + "objectId": "Painting|6|4", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.024149425327777863, + 1.7936227321624756, + 7.305316925048828 + ], + [ + 0.024149425327777863, + 1.7936227321624756, + 6.8475141525268555 + ], + [ + 0.024149425327777863, + 1.185720682144165, + 7.305316925048828 + ], + [ + 0.024149425327777863, + 1.185720682144165, + 6.8475141525268555 + ], + [ + 0.005000026896595955, + 1.7936227321624756, + 7.305316925048828 + ], + [ + 0.005000026896595955, + 1.7936227321624756, + 6.8475141525268555 + ], + [ + 0.005000026896595955, + 1.185720682144165, + 7.305316925048828 + ], + [ + 0.005000026896595955, + 1.185720682144165, + 6.8475141525268555 + ] + ], + "center": { + "x": 0.014574726112186909, + "y": 1.4896717071533203, + "z": 7.076415538787842 + }, + "size": { + "x": 0.019149398431181908, + "y": 0.6079020500183105, + "z": 0.45780277252197266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|6|18", + "object_info": { + "name": "DishSponge|surface|6|18", + "position": { + "x": 0.5631317496299744, + "y": 0.9395577311515808, + "z": 4.7774834632873535 + }, + "rotation": { + "x": 4.5518761908169836e-05, + "y": 89.99998474121094, + "z": -0.0005439731758087873 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.6366994380950928, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|18", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.74070405960083 + ] + ], + "center": { + "x": 0.5631317496299744, + "y": 0.9504860639572144, + "z": 4.7774834632873535 + }, + "size": { + "x": 0.1389460563659668, + "y": 0.026039838790893555, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.632604718208313, + 0.9374668598175049, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374669790267944, + 4.814262866973877 + ], + [ + 0.49365875124931335, + 0.9374662637710571, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635051488876343, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635058641433716, + 4.814262390136719 + ], + [ + 0.49365875124931335, + 0.9635059833526611, + 4.814262390136719 + ], + [ + 0.49365878105163574, + 0.9635052680969238, + 4.74070405960083 + ] + ] + } + } + }, + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 7.456660000570992e-07, + "y": 1.0646860599517822, + "z": 5.495603561401367 + }, + "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": 2.8562917709350586, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Hung_48x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.12203670293092728, + 1.936255693435669, + 6.766789436340332 + ], + [ + 0.12203670293092728, + 1.936255693435669, + 5.494818687438965 + ], + [ + 0.12203670293092728, + 1.0637445449829102, + 6.766789436340332 + ], + [ + 0.12203670293092728, + 1.0637445449829102, + 5.494818687438965 + ], + [ + -0.12203680723905563, + 1.936255693435669, + 6.766789436340332 + ], + [ + -0.12203680723905563, + 1.936255693435669, + 5.494818687438965 + ], + [ + -0.12203680723905563, + 1.0637445449829102, + 6.766789436340332 + ], + [ + -0.12203680723905563, + 1.0637445449829102, + 5.494818687438965 + ] + ], + "center": { + "x": -5.21540641784668e-08, + "y": 1.5000001192092896, + "z": 6.130804061889648 + }, + "size": { + "x": 0.2440735101699829, + "y": 0.8725111484527588, + "z": 1.2719707489013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 0.2878253757953644, + "y": 0.0066471099853515625, + "z": 7.819133758544922 + }, + "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": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Lettuce|surface|6|12", + "Egg|surface|6|22" + ], + "distance": 3.0535800457000732, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7314099073410034, + 1.6926056146621704, + 8.255000114440918 + ], + [ + 0.7314099073410034, + 1.6926056146621704, + 7.401545524597168 + ], + [ + 0.7314099073410034, + 0.0, + 8.255000114440918 + ], + [ + 0.7314099073410034, + 0.0, + 7.401545524597168 + ], + [ + 0.025000035762786865, + 1.6926056146621704, + 8.255000114440918 + ], + [ + 0.025000035762786865, + 1.6926056146621704, + 7.401545524597168 + ], + [ + 0.025000035762786865, + 0.0, + 8.255000114440918 + ], + [ + 0.025000035762786865, + 0.0, + 7.401545524597168 + ] + ], + "center": { + "x": 0.37820497155189514, + "y": 0.8463028073310852, + "z": 7.828272819519043 + }, + "size": { + "x": 0.7064098715782166, + "y": 1.6926056146621704, + "z": 0.85345458984375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|surface|6|20", + "object_info": { + "name": "SaltShaker|surface|6|20", + "position": { + "x": 0.5631306171417236, + "y": 0.9374640583992004, + "z": 5.083537578582764 + }, + "rotation": { + "x": -0.0052022612653672695, + "y": 89.9997329711914, + "z": 359.9933166503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.4787824153900146, + "objectType": "SaltShaker", + "objectId": "SaltShaker|surface|6|20", + "assetId": "Salt_Shaker_2", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6031076312065125, + 1.1344873905181885, + 5.120771408081055 + ], + [ + 0.6031076312065125, + 1.1344873905181885, + 5.046280860900879 + ], + [ + 0.6031076312065125, + 0.9374566078186035, + 5.120771408081055 + ], + [ + 0.6031076312065125, + 0.9374566078186035, + 5.046280860900879 + ], + [ + 0.528911292552948, + 1.1344873905181885, + 5.120771408081055 + ], + [ + 0.528911292552948, + 1.1344873905181885, + 5.046280860900879 + ], + [ + 0.528911292552948, + 0.9374566078186035, + 5.120771408081055 + ], + [ + 0.528911292552948, + 0.9374566078186035, + 5.046280860900879 + ] + ], + "center": { + "x": 0.5660094618797302, + "y": 1.035971999168396, + "z": 5.083526134490967 + }, + "size": { + "x": 0.07419633865356445, + "y": 0.19703078269958496, + "z": 0.07449054718017578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6031076312065125, + 0.9374633431434631, + 5.046304225921631 + ], + [ + 0.6031072735786438, + 0.9374720454216003, + 5.120771408081055 + ], + [ + 0.5289291739463806, + 0.9374653100967407, + 5.1207709312438965 + ], + [ + 0.5289295315742493, + 0.9374566078186035, + 5.046303749084473 + ], + [ + 0.6030897498130798, + 1.1344786882400513, + 5.046281337738037 + ], + [ + 0.6030893921852112, + 1.1344873905181885, + 5.120748043060303 + ], + [ + 0.528911292552948, + 1.134480595588684, + 5.120748043060303 + ], + [ + 0.5289115905761719, + 1.1344718933105469, + 5.046280860900879 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|13", + "object_info": { + "name": "Toaster|surface|6|13", + "position": { + "x": 0.4096106290817261, + "y": 0.9374666810035706, + "z": 4.624452590942383 + }, + "rotation": { + "x": 1.4111724340182263e-05, + "y": 89.99987030029297, + "z": 2.0073312043678015e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.849764108657837, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|13", + "assetId": "Toaster_9", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5902489423751831, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.5298686027526855 + ] + ], + "center": { + "x": 0.41897130012512207, + "y": 1.040675163269043, + "z": 4.624452590942383 + }, + "size": { + "x": 0.34255528450012207, + "y": 0.20641756057739258, + "z": 0.18916797637939453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5902494788169861, + 0.9374665021896362, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 0.9374664425849915, + 4.719037055969238 + ], + [ + 0.2476929873228073, + 0.9374665021896362, + 4.71903657913208 + ], + [ + 0.24769340455532074, + 0.937466561794281, + 4.529868125915527 + ], + [ + 0.5902495384216309, + 1.143884539604187, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 1.1438844203948975, + 4.719037055969238 + ], + [ + 0.2476930320262909, + 1.143884539604187, + 4.71903657913208 + ], + [ + 0.24769344925880432, + 1.143884539604187, + 4.5298686027526855 + ] + ] + } + } + }, + { + "objectId": "Lettuce|surface|6|19", + "object_info": { + "name": "Lettuce|surface|6|19", + "position": { + "x": 0.4867231547832489, + "y": 0.9966291189193726, + "z": 5.237242698669434 + }, + "rotation": { + "x": 0.33815568685531616, + "y": 90.00554656982422, + "z": 0.6548462510108948 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 2.481379508972168, + "objectType": "Lettuce", + "objectId": "Lettuce|surface|6|19", + "assetId": "Lettuce_29", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5925901532173157, + 1.0818521976470947, + 5.313623428344727 + ], + [ + 0.5925901532173157, + 1.0818521976470947, + 5.168584823608398 + ], + [ + 0.5925901532173157, + 0.9374537467956543, + 5.313623428344727 + ], + [ + 0.5925901532173157, + 0.9374537467956543, + 5.168584823608398 + ], + [ + 0.3852663040161133, + 1.0818521976470947, + 5.313623428344727 + ], + [ + 0.3852663040161133, + 1.0818521976470947, + 5.168584823608398 + ], + [ + 0.3852663040161133, + 0.9374537467956543, + 5.313623428344727 + ], + [ + 0.3852663040161133, + 0.9374537467956543, + 5.168584823608398 + ] + ], + "center": { + "x": 0.4889282286167145, + "y": 1.0096529722213745, + "z": 5.2411041259765625 + }, + "size": { + "x": 0.2073238492012024, + "y": 0.14439845085144043, + "z": 0.14503860473632812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.59222412109375, + 0.937721848487854, + 5.16776180267334 + ], + [ + 0.5922284126281738, + 0.9360646605491638, + 5.3127522468566895 + ], + [ + 0.38484418392181396, + 0.9372886419296265, + 5.312772274017334 + ], + [ + 0.3848399221897125, + 0.9389458298683167, + 5.167781829833984 + ], + [ + 0.5930750370025635, + 1.081871509552002, + 5.169409275054932 + ], + [ + 0.5930793285369873, + 1.0802143812179565, + 5.314399719238281 + ], + [ + 0.38569509983062744, + 1.0814383029937744, + 5.314419746398926 + ], + [ + 0.3856908679008484, + 1.0830955505371094, + 5.169429302215576 + ] + ] + } + } + }, + { + "objectId": "PaperTowelRoll|surface|6|24", + "object_info": { + "name": "PaperTowelRoll|surface|6|24", + "position": { + "x": 0.10260233283042908, + "y": 1.044922113418579, + "z": 4.777514457702637 + }, + "rotation": { + "x": 0.015799662098288536, + "y": 89.99725341796875, + "z": 0.015023683197796345 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.2199999988079071, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.032761573791504, + "objectType": "PaperTowelRoll", + "objectId": "PaperTowelRoll|surface|6|24", + "assetId": "Paper_Towel_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.13355273008346558, + 1.1523816585540771, + 4.824245452880859 + ], + [ + 0.13355273008346558, + 1.1523816585540771, + 4.746564865112305 + ], + [ + 0.13355273008346558, + 0.937462568283081, + 4.824245452880859 + ], + [ + 0.13355273008346558, + 0.937462568283081, + 4.746564865112305 + ], + [ + 0.06860710680484772, + 1.1523816585540771, + 4.824245452880859 + ], + [ + 0.06860710680484772, + 1.1523816585540771, + 4.746564865112305 + ], + [ + 0.06860710680484772, + 0.937462568283081, + 4.824245452880859 + ], + [ + 0.06860710680484772, + 0.937462568283081, + 4.746564865112305 + ] + ], + "center": { + "x": 0.10107991844415665, + "y": 1.044922113418579, + "z": 4.785405158996582 + }, + "size": { + "x": 0.06494562327861786, + "y": 0.2149190902709961, + "z": 0.07768058776855469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.13349436223506927, + 0.9374739527702332, + 4.746567726135254 + ], + [ + 0.133490651845932, + 0.9374536275863647, + 4.824192523956299 + ], + [ + 0.06860677897930145, + 0.9374715089797974, + 4.824189186096191 + ], + [ + 0.06861050426959991, + 0.9374918937683105, + 4.7465643882751465 + ], + [ + 0.1335536241531372, + 1.1523693799972534, + 4.746623992919922 + ], + [ + 0.13354989886283875, + 1.1523491144180298, + 4.824248790740967 + ], + [ + 0.06866603344678879, + 1.1523669958114624, + 4.824245452880859 + ], + [ + 0.06866975128650665, + 1.152387261390686, + 4.7466206550598145 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|25", + "object_info": { + "name": "SprayBottle|surface|6|25", + "position": { + "x": 0.4096115231513977, + "y": 0.9369469881057739, + "z": 4.471437931060791 + }, + "rotation": { + "x": 0.014869173988699913, + "y": 89.99882507324219, + "z": 0.040896009653806686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9397268295288086, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|25", + "assetId": "Spray_Bottle_4", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4697638154029846, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.455009460449219 + ] + ], + "center": { + "x": 0.4135154187679291, + "y": 1.0601979494094849, + "z": 4.471508979797363 + }, + "size": { + "x": 0.11249679327011108, + "y": 0.24551916122436523, + "z": 0.03299903869628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.469733864068985, + 0.9374619126319885, + 4.455012321472168 + ], + [ + 0.46973317861557007, + 0.937438428401947, + 4.4878668785095215 + ], + [ + 0.35726696252822876, + 0.937467634677887, + 4.4878644943237305 + ], + [ + 0.3572676181793213, + 0.9374910593032837, + 4.455009937286377 + ], + [ + 0.4697975814342499, + 1.1829599142074585, + 4.4551873207092285 + ], + [ + 0.46979689598083496, + 1.1829365491867065, + 4.488041877746582 + ], + [ + 0.35733065009117126, + 1.1829657554626465, + 4.488039970397949 + ], + [ + 0.3573313355445862, + 1.1829891204833984, + 4.4551849365234375 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.025398969650268555, + "y": 5.960464477539063e-08, + "z": 4.1660356521606445 + }, + "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": [ + "Spatula|surface|6|17", + "SaltShaker|surface|6|20", + "Vase|surface|6|15", + "Toaster|surface|6|13", + "SoapBottle|surface|6|21", + "Spatula|surface|6|16", + "PaperTowelRoll|surface|6|24", + "SprayBottle|surface|6|25", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "DishSponge|surface|6|18" + ], + "distance": 3.546570062637329, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_4x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6355515718460083, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.6355515718460083, + 0.0, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.0, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.0, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.0, + 4.164999961853027 + ] + ], + "center": { + "x": 0.3302757740020752, + "y": 0.4687333106994629, + "z": 4.775140762329102 + }, + "size": { + "x": 0.6105515956878662, + "y": 0.9374666213989258, + "z": 1.2202816009521484 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.14499568939209 + }, + "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": 2.742511749267578, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6266024112701416, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.144999980926514 + ] + ], + "center": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.160870552062988 + }, + "size": { + "x": 0.922407865524292, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|surface|6|21", + "object_info": { + "name": "SoapBottle|surface|6|21", + "position": { + "x": 0.48637279868125916, + "y": 0.9395943880081177, + "z": 4.318403244018555 + }, + "rotation": { + "x": 0.008398315869271755, + "y": 89.99995422363281, + "z": -0.0027105396147817373 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9759979248046875, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|21", + "assetId": "Soap_Bottle_21", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5462433099746704, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.259096622467041 + ] + ], + "center": { + "x": 0.4863945245742798, + "y": 1.0629488229751587, + "z": 4.318946838378906 + }, + "size": { + "x": 0.11969757080078125, + "y": 0.2509732246398926, + "z": 0.11970043182373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5462232232093811, + 0.9374562501907349, + 4.259103298187256 + ], + [ + 0.5462231636047363, + 0.9374619126319885, + 4.378803253173828 + ], + [ + 0.4265255630016327, + 0.9374794960021973, + 4.378803253173828 + ], + [ + 0.42652565240859985, + 0.9374738335609436, + 4.259103298187256 + ], + [ + 0.5462599992752075, + 1.1884355545043945, + 4.259091377258301 + ], + [ + 0.5462599396705627, + 1.188441276550293, + 4.378791332244873 + ], + [ + 0.4265623688697815, + 1.188458800315857, + 4.378791332244873 + ], + [ + 0.42656242847442627, + 1.1884530782699585, + 4.259091377258301 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|17", + "object_info": { + "name": "Spatula|surface|6|17", + "position": { + "x": 0.3328872323036194, + "y": 0.9448754191398621, + "z": 4.930285453796387 + }, + "rotation": { + "x": 0.19171346724033356, + "y": 89.99823760986328, + "z": 358.8579406738281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.754270553588867, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|17", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5536202788352966, + 0.9545079469680786, + 4.962465286254883 + ], + [ + 0.5536202788352966, + 0.9545079469680786, + 4.898073196411133 + ], + [ + 0.5536202788352966, + 0.9362014532089233, + 4.962465286254883 + ], + [ + 0.5536202788352966, + 0.9362014532089233, + 4.898073196411133 + ], + [ + 0.25608986616134644, + 0.9545079469680786, + 4.962465286254883 + ], + [ + 0.25608986616134644, + 0.9545079469680786, + 4.898073196411133 + ], + [ + 0.25608986616134644, + 0.9362014532089233, + 4.962465286254883 + ], + [ + 0.25608986616134644, + 0.9362014532089233, + 4.898073196411133 + ] + ], + "center": { + "x": 0.40485507249832153, + "y": 0.945354700088501, + "z": 4.930269241333008 + }, + "size": { + "x": 0.2975304126739502, + "y": 0.018306493759155273, + "z": 0.06439208984375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5535707473754883, + 0.9358914494514465, + 4.89841890335083 + ], + [ + 0.5535731315612793, + 0.937168300151825, + 4.962469100952148 + ], + [ + 0.25606289505958557, + 0.9381638169288635, + 4.962459564208984 + ], + [ + 0.2560606002807617, + 0.9368869662284851, + 4.898409843444824 + ], + [ + 0.5536288022994995, + 0.9532293081283569, + 4.898073196411133 + ], + [ + 0.553631067276001, + 0.9545061588287354, + 4.962123394012451 + ], + [ + 0.2561209201812744, + 0.9555016756057739, + 4.962114334106445 + ], + [ + 0.2561185956001282, + 0.9542248249053955, + 4.898064136505127 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|16", + "object_info": { + "name": "Spatula|surface|6|16", + "position": { + "x": 0.1793704628944397, + "y": 0.9448747634887695, + "z": 4.3181471824646 + }, + "rotation": { + "x": 0.19126881659030914, + "y": 89.99832916259766, + "z": 358.85308837890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.215916156768799, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|16", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.40010350942611694, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.285933971405029 + ] + ], + "center": { + "x": 0.25133830308914185, + "y": 0.9453555345535278, + "z": 4.318130970001221 + }, + "size": { + "x": 0.2975304126739502, + "y": 0.018312454223632812, + "z": 0.06439399719238281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.40005403757095337, + 0.9358898401260376, + 4.286281108856201 + ], + [ + 0.4000564217567444, + 0.9371721148490906, + 4.350330829620361 + ], + [ + 0.10254623740911484, + 0.9381652474403381, + 4.350322246551514 + ], + [ + 0.10254382342100143, + 0.9368829727172852, + 4.286272048950195 + ], + [ + 0.4001119136810303, + 0.9532276391983032, + 4.285933971405029 + ], + [ + 0.4001142978668213, + 0.9545099139213562, + 4.3499836921691895 + ], + [ + 0.10260412842035294, + 0.9555031061172485, + 4.349975109100342 + ], + [ + 0.10260171443223953, + 0.9542208313941956, + 4.285924911499023 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.799999952316284, + "y": 0.9009997844696045, + "z": 6.599999904632568 + }, + "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": 3.799999952316284, + "y": 1.5759997367858887, + "z": 6.599999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|6|5", + "CounterTop|6|0" + ], + "different_object": [ + "Spatula|surface|6|16", + "SprayBottle|surface|6|25", + "Toaster|surface|6|13", + "window|6|0", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "PaperTowelRoll|surface|6|24", + "SoapBottle|surface|6|21", + "Painting|6|4", + "SaltShaker|surface|6|20", + "Spatula|surface|6|17", + "Fridge|6|1", + "DishSponge|surface|6|18", + "Vase|surface|6|15" + ] +} \ No newline at end of file diff --git a/train/train1708/3/1_depth_npy.npy b/train/train1708/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0514686fd7765c5b9bbc0464f9734036c3942415 --- /dev/null +++ b/train/train1708/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd7b466f3fd655390584fdfde5bfd125276d3caad3ca2821ede95311a497850f +size 3145856 diff --git a/train/train1708/3/1_semantic_sensor_npy.npy b/train/train1708/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f531314a1db7ebc0885b55497519fe6107864b20 --- /dev/null +++ b/train/train1708/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64fa9e5ec760945212241338a006816dff36e21728eed39b8b6610d38b887c23 +size 2359424 diff --git a/train/train1708/3/depth_0.png b/train/train1708/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..118df1e3170c041ede95925269b7dc98c919bd81 Binary files /dev/null and b/train/train1708/3/depth_0.png differ diff --git a/train/train1708/3/depth_1.png b/train/train1708/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ebc3b7b2b0befa774905faf327079deaab663704 Binary files /dev/null and b/train/train1708/3/depth_1.png differ diff --git a/train/train1708/3/mask_questions.jsonl b/train/train1708/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2de091335850e5e9b827319359b960c7fae1929e --- /dev/null +++ b/train/train1708/3/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 4845, "folder_dir": "train1708/3", "pair_name": "0-1:Painting|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. CounterTop\nB. DogBed\nC. Window\nD. Painting", "answer": "D", "object_name": "Painting", "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/rgb_1.png", "mask_image": "train1708/3/rgb_1_mask_Painting|6|5.png", "options": ["CounterTop", "DogBed", "Window", "Painting"]} +{"id": 4846, "folder_dir": "train1708/3", "pair_name": "1-0:Painting|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. Painting\nB. PaperTowelRoll\nC. CounterTop\nD. Vase", "answer": "A", "object_name": "Painting", "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/rgb_0.png", "mask_image": "train1708/3/rgb_0_mask_Painting|6|5.png", "options": ["Painting", "PaperTowelRoll", "CounterTop", "Vase"]} diff --git a/train/train1708/3/questions_direction.jsonl b/train/train1708/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed6bdc0b4fac445ac7865f02a5b49333ae584320 --- /dev/null +++ b/train/train1708/3/questions_direction.jsonl @@ -0,0 +1,46 @@ +{"id": 8183, "folder_dir": "train1708/3", "pair_name": "Pillow-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. 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": "D", "src_object": "Pillow", "tgt_object": "Fridge", "src_com": {"x": 5.568654537200928, "y": 0.6197100877761841, "z": 1.0051735639572144}, "tgt_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8184, "folder_dir": "train1708/3", "pair_name": "Pillow-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. 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": "C", "src_object": "Pillow", "tgt_object": "SoapBottle", "src_com": {"x": 5.568654537200928, "y": 0.6197100877761841, "z": 1.0051735639572144}, "tgt_com": {"x": 0.4863945245742798, "y": 1.0629488229751587, "z": 4.318946838378906}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8185, "folder_dir": "train1708/3", "pair_name": "DogBed-Vase", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. Where is the centroid position of Vase 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": "DogBed", "tgt_object": "Vase", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.33310073614120483, "y": 0.9725505113601685, "z": 5.083538055419922}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8186, "folder_dir": "train1708/3", "pair_name": "DogBed-DishSponge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. Where is the centroid position of DishSponge 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": "DogBed", "tgt_object": "DishSponge", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.5631317496299744, "y": 0.9504860639572144, "z": 4.7774834632873535}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8187, "folder_dir": "train1708/3", "pair_name": "DogBed-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. 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": "D", "src_object": "DogBed", "tgt_object": "Fridge", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8188, "folder_dir": "train1708/3", "pair_name": "DogBed-SaltShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. 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": "DogBed", "tgt_object": "SaltShaker", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.5660094618797302, "y": 1.035971999168396, "z": 5.083526134490967}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8189, "folder_dir": "train1708/3", "pair_name": "DogBed-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. Where is the centroid position of Toaster 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": "DogBed", "tgt_object": "Toaster", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.41897130012512207, "y": 1.040675163269043, "z": 4.624452590942383}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8190, "folder_dir": "train1708/3", "pair_name": "DogBed-Lettuce", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. Where is the centroid position of Lettuce 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": "DogBed", "tgt_object": "Lettuce", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.4889282286167145, "y": 1.0096529722213745, "z": 5.2411041259765625}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8191, "folder_dir": "train1708/3", "pair_name": "DogBed-PaperTowelRoll", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. Where is the centroid position of PaperTowelRoll 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": "DogBed", "tgt_object": "PaperTowelRoll", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.10107991844415665, "y": 1.044922113418579, "z": 4.785405158996582}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8192, "folder_dir": "train1708/3", "pair_name": "DogBed-SprayBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. 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": "C", "src_object": "DogBed", "tgt_object": "SprayBottle", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.4135154187679291, "y": 1.0601979494094849, "z": 4.471508979797363}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8193, "folder_dir": "train1708/3", "pair_name": "DogBed-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DogBed. 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": "C", "src_object": "DogBed", "tgt_object": "SoapBottle", "src_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "tgt_com": {"x": 0.4863945245742798, "y": 1.0629488229751587, "z": 4.318946838378906}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8194, "folder_dir": "train1708/3", "pair_name": "GarbageCan-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. 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": "D", "src_object": "GarbageCan", "tgt_object": "Fridge", "src_com": {"x": 5.941217422485352, "y": 0.25510361790657043, "z": 2.2786941528320312}, "tgt_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8195, "folder_dir": "train1708/3", "pair_name": "Doorframe-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorframe. 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": "D", "src_object": "Doorframe", "tgt_object": "Fridge", "src_com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}, "tgt_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8196, "folder_dir": "train1708/3", "pair_name": "Doorframe-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorframe. Where is the centroid position of Toaster 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": "Doorframe", "tgt_object": "Toaster", "src_com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}, "tgt_com": {"x": 0.41897130012512207, "y": 1.040675163269043, "z": 4.624452590942383}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8197, "folder_dir": "train1708/3", "pair_name": "Doorframe-SprayBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorframe. 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": "C", "src_object": "Doorframe", "tgt_object": "SprayBottle", "src_com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}, "tgt_com": {"x": 0.4135154187679291, "y": 1.0601979494094849, "z": 4.471508979797363}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8198, "folder_dir": "train1708/3", "pair_name": "Doorframe-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorframe. 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": "C", "src_object": "Doorframe", "tgt_object": "SoapBottle", "src_com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}, "tgt_com": {"x": 0.4863945245742798, "y": 1.0629488229751587, "z": 4.318946838378906}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8199, "folder_dir": "train1708/3", "pair_name": "Sofa-DishSponge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of DishSponge 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": "Sofa", "tgt_object": "DishSponge", "src_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "tgt_com": {"x": 0.5631317496299744, "y": 0.9504860639572144, "z": 4.7774834632873535}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8200, "folder_dir": "train1708/3", "pair_name": "Sofa-Fridge", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. 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": "D", "src_object": "Sofa", "tgt_object": "Fridge", "src_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "tgt_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8201, "folder_dir": "train1708/3", "pair_name": "Sofa-SaltShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. 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": "Sofa", "tgt_object": "SaltShaker", "src_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "tgt_com": {"x": 0.5660094618797302, "y": 1.035971999168396, "z": 5.083526134490967}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8202, "folder_dir": "train1708/3", "pair_name": "Sofa-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Toaster 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": "Sofa", "tgt_object": "Toaster", "src_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "tgt_com": {"x": 0.41897130012512207, "y": 1.040675163269043, "z": 4.624452590942383}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8203, "folder_dir": "train1708/3", "pair_name": "Sofa-PaperTowelRoll", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of PaperTowelRoll 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": "Sofa", "tgt_object": "PaperTowelRoll", "src_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "tgt_com": {"x": 0.10107991844415665, "y": 1.044922113418579, "z": 4.785405158996582}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8204, "folder_dir": "train1708/3", "pair_name": "Sofa-SprayBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. 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": "C", "src_object": "Sofa", "tgt_object": "SprayBottle", "src_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "tgt_com": {"x": 0.4135154187679291, "y": 1.0601979494094849, "z": 4.471508979797363}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8205, "folder_dir": "train1708/3", "pair_name": "Sofa-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. 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": "C", "src_object": "Sofa", "tgt_object": "SoapBottle", "src_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "tgt_com": {"x": 0.4863945245742798, "y": 1.0629488229751587, "z": 4.318946838378906}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_0.png", "image_2": "train1708/3/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": 8206, "folder_dir": "train1708/3", "pair_name": "Vase-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Vase. Where is the centroid position of DogBed 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": "Vase", "tgt_object": "DogBed", "src_com": {"x": 0.33310073614120483, "y": 0.9725505113601685, "z": 5.083538055419922}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8207, "folder_dir": "train1708/3", "pair_name": "DishSponge-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DishSponge. Where is the centroid position of DogBed 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": "DishSponge", "tgt_object": "DogBed", "src_com": {"x": 0.5631317496299744, "y": 0.9504860639572144, "z": 4.7774834632873535}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8208, "folder_dir": "train1708/3", "pair_name": "DishSponge-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DishSponge. Where is the centroid position of Sofa 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": "DishSponge", "tgt_object": "Sofa", "src_com": {"x": 0.5631317496299744, "y": 0.9504860639572144, "z": 4.7774834632873535}, "tgt_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8209, "folder_dir": "train1708/3", "pair_name": "Fridge-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. Where is the centroid position of Pillow 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": "Fridge", "tgt_object": "Pillow", "src_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "tgt_com": {"x": 5.568654537200928, "y": 0.6197100877761841, "z": 1.0051735639572144}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8210, "folder_dir": "train1708/3", "pair_name": "Fridge-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. Where is the centroid position of DogBed 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": "Fridge", "tgt_object": "DogBed", "src_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8211, "folder_dir": "train1708/3", "pair_name": "Fridge-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. 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": "Fridge", "tgt_object": "GarbageCan", "src_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "tgt_com": {"x": 5.941217422485352, "y": 0.25510361790657043, "z": 2.2786941528320312}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8212, "folder_dir": "train1708/3", "pair_name": "Fridge-Doorframe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. Where is the centroid position of Doorframe 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": "Fridge", "tgt_object": "Doorframe", "src_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "tgt_com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8213, "folder_dir": "train1708/3", "pair_name": "Fridge-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Fridge. Where is the centroid position of Sofa 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": "Fridge", "tgt_object": "Sofa", "src_com": {"x": 0.37820497155189514, "y": 0.8463028073310852, "z": 7.828272819519043}, "tgt_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8214, "folder_dir": "train1708/3", "pair_name": "SaltShaker-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SaltShaker. Where is the centroid position of DogBed 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": "DogBed", "src_com": {"x": 0.5660094618797302, "y": 1.035971999168396, "z": 5.083526134490967}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8215, "folder_dir": "train1708/3", "pair_name": "SaltShaker-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SaltShaker. Where is the centroid position of Sofa 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": "Sofa", "src_com": {"x": 0.5660094618797302, "y": 1.035971999168396, "z": 5.083526134490967}, "tgt_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8216, "folder_dir": "train1708/3", "pair_name": "Toaster-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of DogBed 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": "Toaster", "tgt_object": "DogBed", "src_com": {"x": 0.41897130012512207, "y": 1.040675163269043, "z": 4.624452590942383}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8217, "folder_dir": "train1708/3", "pair_name": "Toaster-Doorframe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Doorframe 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": "Toaster", "tgt_object": "Doorframe", "src_com": {"x": 0.41897130012512207, "y": 1.040675163269043, "z": 4.624452590942383}, "tgt_com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8218, "folder_dir": "train1708/3", "pair_name": "Toaster-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Sofa 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": "Toaster", "tgt_object": "Sofa", "src_com": {"x": 0.41897130012512207, "y": 1.040675163269043, "z": 4.624452590942383}, "tgt_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8219, "folder_dir": "train1708/3", "pair_name": "Lettuce-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Lettuce. Where is the centroid position of DogBed 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": "Lettuce", "tgt_object": "DogBed", "src_com": {"x": 0.4889282286167145, "y": 1.0096529722213745, "z": 5.2411041259765625}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8220, "folder_dir": "train1708/3", "pair_name": "PaperTowelRoll-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of PaperTowelRoll. Where is the centroid position of DogBed 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": "PaperTowelRoll", "tgt_object": "DogBed", "src_com": {"x": 0.10107991844415665, "y": 1.044922113418579, "z": 4.785405158996582}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8221, "folder_dir": "train1708/3", "pair_name": "PaperTowelRoll-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of PaperTowelRoll. Where is the centroid position of Sofa 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": "PaperTowelRoll", "tgt_object": "Sofa", "src_com": {"x": 0.10107991844415665, "y": 1.044922113418579, "z": 4.785405158996582}, "tgt_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8222, "folder_dir": "train1708/3", "pair_name": "SprayBottle-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SprayBottle. Where is the centroid position of DogBed 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": "SprayBottle", "tgt_object": "DogBed", "src_com": {"x": 0.4135154187679291, "y": 1.0601979494094849, "z": 4.471508979797363}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8223, "folder_dir": "train1708/3", "pair_name": "SprayBottle-Doorframe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SprayBottle. Where is the centroid position of Doorframe 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": "SprayBottle", "tgt_object": "Doorframe", "src_com": {"x": 0.4135154187679291, "y": 1.0601979494094849, "z": 4.471508979797363}, "tgt_com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8224, "folder_dir": "train1708/3", "pair_name": "SprayBottle-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SprayBottle. Where is the centroid position of Sofa 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": "SprayBottle", "tgt_object": "Sofa", "src_com": {"x": 0.4135154187679291, "y": 1.0601979494094849, "z": 4.471508979797363}, "tgt_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8225, "folder_dir": "train1708/3", "pair_name": "SoapBottle-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Pillow 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": "SoapBottle", "tgt_object": "Pillow", "src_com": {"x": 0.4863945245742798, "y": 1.0629488229751587, "z": 4.318946838378906}, "tgt_com": {"x": 5.568654537200928, "y": 0.6197100877761841, "z": 1.0051735639572144}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8226, "folder_dir": "train1708/3", "pair_name": "SoapBottle-DogBed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of DogBed 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": "SoapBottle", "tgt_object": "DogBed", "src_com": {"x": 0.4863945245742798, "y": 1.0629488229751587, "z": 4.318946838378906}, "tgt_com": {"x": 3.7760467529296875, "y": 0.15798266232013702, "z": 2.733346939086914}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8227, "folder_dir": "train1708/3", "pair_name": "SoapBottle-Doorframe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Doorframe 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": "SoapBottle", "tgt_object": "Doorframe", "src_com": {"x": 0.4863945245742798, "y": 1.0629488229751587, "z": 4.318946838378906}, "tgt_com": {"x": 4.4479241371154785, "y": 1.0435371398925781, "z": 4.139999866485596}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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": 8228, "folder_dir": "train1708/3", "pair_name": "SoapBottle-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Sofa 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": "SoapBottle", "tgt_object": "Sofa", "src_com": {"x": 0.4863945245742798, "y": 1.0629488229751587, "z": 4.318946838378906}, "tgt_com": {"x": 4.825891494750977, "y": 0.585404098033905, "z": 0.6306344866752625}, "agent_pos": {"x": 3.799999952316284, "y": 1.5759997367858887, "z": 6.599999904632568}, "image_1": "train1708/3/rgb_1.png", "image_2": "train1708/3/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/train1708/3/rgb_0.png b/train/train1708/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d074387ffb662d0f429cb486891e96b139a6d7a2 --- /dev/null +++ b/train/train1708/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2722133268b4345e8b897becc2c86668d99b986a0840c81f20c71a4511a41099 +size 514648 diff --git a/train/train1708/3/rgb_0_mask_Painting|6|5.png b/train/train1708/3/rgb_0_mask_Painting|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..46c91babec66edba983352a1f8008292180ac0fe --- /dev/null +++ b/train/train1708/3/rgb_0_mask_Painting|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3757b67eb61a6403c171242469abe3fbffe6ca761b0bae36040c01662a81117f +size 442287 diff --git a/train/train1708/3/rgb_1.png b/train/train1708/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..964bf8215616f7c86013171104f08c7079f64258 --- /dev/null +++ b/train/train1708/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e39cb0b3314b09021d12218c11d12fe4f57877d482d4079761dc669f99f58a4 +size 559554 diff --git a/train/train1708/3/rgb_1_mask_Painting|6|5.png b/train/train1708/3/rgb_1_mask_Painting|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..fc65e165721dede650d0d8783810481ebcce5115 --- /dev/null +++ b/train/train1708/3/rgb_1_mask_Painting|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bebb0a67c0e60bf30abac25ad59d39e2440243028f59c2df58524af8d75e252 +size 487663 diff --git a/train/train1708/3/semantic_0.png b/train/train1708/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a4307f5f00d58eed84db3d358047b04c4e52921d Binary files /dev/null and b/train/train1708/3/semantic_0.png differ diff --git a/train/train1708/3/semantic_1.png b/train/train1708/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ecfa491ce1fdd9ac2fa8de67cf518437277d21af Binary files /dev/null and b/train/train1708/3/semantic_1.png differ diff --git a/train/train1708/4/0.json b/train/train1708/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c85f38b1b7cfc1c33a1f230562e31d9067910698 --- /dev/null +++ b/train/train1708/4/0.json @@ -0,0 +1,1225 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 0.9965918064117432 + }, + "rotation": { + "x": -8.617769708507694e-06, + "y": 269.99993896484375, + "z": 2.107437921949895e-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": 5.9684367179870605, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_21", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.726701259613037, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 1.1980637311935425 + ], + [ + 5.410607814788818, + 0.5510959625244141, + 0.8122833967208862 + ] + ], + "center": { + "x": 5.568654537200928, + "y": 0.6197100877761841, + "z": 1.0051735639572144 + }, + "size": { + "x": 0.31609344482421875, + "y": 0.13722825050354004, + "z": 0.38578033447265625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.410607814788818, + 0.5510960221290588, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.5510960221290588, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.5510959625244141, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.5510959625244141, + 1.198063850402832 + ], + [ + 5.410607814788818, + 0.6883242130279541, + 1.1980634927749634 + ], + [ + 5.410608291625977, + 0.6883242130279541, + 0.8122833967208862 + ], + [ + 5.726701259613037, + 0.6883241534233093, + 0.8122837543487549 + ], + [ + 5.726700782775879, + 0.6883241534233093, + 1.198063850402832 + ] + ] + } + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 6.2099995613098145, + "y": 1.042765736579895, + "z": 3.7707598209381104 + }, + "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": 4.258911609649658, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Hung_36x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.331045150756836, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.331045150756836, + 1.0426135063171387, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.955949306488037, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.955949306488037, + 2.8066935539245605 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 3.7709765434265137 + ], + [ + 6.088954925537109, + 1.0426135063171387, + 2.8066935539245605 + ] + ], + "center": { + "x": 6.210000038146973, + "y": 1.499281406402588, + "z": 3.288835048675537 + }, + "size": { + "x": 0.24209022521972656, + "y": 0.9133358001708984, + "z": 0.9642829895019531 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|6|3", + "object_info": { + "name": "Television|6|3", + "position": { + "x": 5.1513285636901855, + "y": 1.4249145984649658, + "z": 6.197158336639404 + }, + "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": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4583852291107178, + "objectType": "Television", + "objectId": "Television|6|3", + "assetId": "Television_27", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002819538116455, + 1.9521044492721558, + 6.204999923706055 + ], + [ + 6.002819538116455, + 1.9521044492721558, + 6.092864036560059 + ], + [ + 6.002819538116455, + 0.7423349618911743, + 6.204999923706055 + ], + [ + 6.002819538116455, + 0.7423349618911743, + 6.092864036560059 + ], + [ + 4.299837589263916, + 1.9521044492721558, + 6.204999923706055 + ], + [ + 4.299837589263916, + 1.9521044492721558, + 6.092864036560059 + ], + [ + 4.299837589263916, + 0.7423349618911743, + 6.204999923706055 + ], + [ + 4.299837589263916, + 0.7423349618911743, + 6.092864036560059 + ] + ], + "center": { + "x": 5.1513285636901855, + "y": 1.347219705581665, + "z": 6.148931980133057 + }, + "size": { + "x": 1.702981948852539, + "y": 1.2097694873809814, + "z": 0.1121358871459961 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|7|4", + "object_info": { + "name": "DogBed|7|4", + "position": { + "x": 3.773636817932129, + "y": 0.003956407308578491, + "z": 2.729346752166748 + }, + "rotation": { + "x": 0.0014191973023116589, + "y": 269.9998779296875, + "z": -0.00016524105740245432 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.7745885848999023, + "objectType": "DogBed", + "objectId": "DogBed|7|4", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.193436622619629, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 4.193436622619629, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 4.193436622619629, + 2.086162567138672e-07, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 3.229536533355713 + ], + [ + 3.358656883239746, + 0.31596511602401733, + 2.2371573448181152 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 3.229536533355713 + ], + [ + 3.358656883239746, + 2.086162567138672e-07, + 2.2371573448181152 + ] + ], + "center": { + "x": 3.7760467529296875, + "y": 0.15798266232013702, + "z": 2.733346939086914 + }, + "size": { + "x": 0.8347797393798828, + "y": 0.3159649074077606, + "z": 0.9923791885375977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.358659505844116, + -4.896894097328186e-06, + 3.2295355796813965 + ], + [ + 3.358661413192749, + -2.0349398255348206e-06, + 2.237156391143799 + ], + [ + 4.193441867828369, + 1.8642283976078033e-05, + 2.2371578216552734 + ], + [ + 4.193439960479736, + 1.5780329704284668e-05, + 3.22953724861145 + ], + [ + 3.358651638031006, + 0.31594735383987427, + 3.229536533355713 + ], + [ + 3.3586537837982178, + 0.3159502148628235, + 2.237157106399536 + ], + [ + 4.193434238433838, + 0.31597089767456055, + 2.23715877532959 + ], + [ + 4.193432331085205, + 0.31596803665161133, + 3.2295382022857666 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 5.957183361053467, + "y": 0.0033270269632339478, + "z": 2.2842347621917725 + }, + "rotation": { + "x": 0.9100496172904968, + "y": 270.00201416015625, + "z": 1.2968323062523268e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 5.178719520568848, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.177154541015625, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 6.177154541015625, + 5.960464477539063e-08, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 0.5102071762084961, + 1.9394149780273438 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 2.6179733276367188 + ], + [ + 5.705280303955078, + 5.960464477539063e-08, + 1.9394149780273438 + ] + ], + "center": { + "x": 5.941217422485352, + "y": 0.25510361790657043, + "z": 2.2786941528320312 + }, + "size": { + "x": 0.4718742370605469, + "y": 0.5102071166038513, + "z": 0.678558349609375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.713083267211914, + -0.005755754187703133, + 2.61797833442688 + ], + [ + 5.713059425354004, + -0.005755908787250519, + 1.9394176006317139 + ], + [ + 6.18495512008667, + 0.0017400130163878202, + 1.9394009113311768 + ], + [ + 6.18497896194458, + 0.0017401666846126318, + 2.6179616451263428 + ], + [ + 5.704996109008789, + 0.5033749938011169, + 2.61797833442688 + ], + [ + 5.704971790313721, + 0.5033748745918274, + 1.939417839050293 + ], + [ + 6.176867485046387, + 0.5108708143234253, + 1.9394010305404663 + ], + [ + 6.176891803741455, + 0.5108709335327148, + 2.6179616451263428 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.025398969650268555, + "y": 5.960464477539063e-08, + "z": 4.1660356521606445 + }, + "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": [ + "Spatula|surface|6|17", + "SaltShaker|surface|6|20", + "Vase|surface|6|15", + "Toaster|surface|6|13", + "SoapBottle|surface|6|21", + "Spatula|surface|6|16", + "PaperTowelRoll|surface|6|24", + "SprayBottle|surface|6|25", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "DishSponge|surface|6|18" + ], + "distance": 3.546570062637329, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_4x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6355515718460083, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.6355515718460083, + 0.0, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.0, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.0, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.0, + 4.164999961853027 + ] + ], + "center": { + "x": 0.3302757740020752, + "y": 0.4687333106994629, + "z": 4.775140762329102 + }, + "size": { + "x": 0.6105515956878662, + "y": 0.9374666213989258, + "z": 1.2202816009521484 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.14499568939209 + }, + "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": 2.742511749267578, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6266024112701416, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.144999980926514 + ] + ], + "center": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.160870552062988 + }, + "size": { + "x": 0.922407865524292, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 3.479842185974121, + "y": -0.0005981922149658203, + "z": 4.141299247741699 + }, + "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": 2.4066922664642334, + "objectType": "Doorframe", + "objectId": "door|6|7", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.4193291664123535, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 5.4193291664123535, + 0.0, + 4.1896586418151855 + ], + [ + 5.4193291664123535, + 0.0, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 2.0870742797851562, + 4.090341091156006 + ], + [ + 3.4765191078186035, + 0.0, + 4.1896586418151855 + ], + [ + 3.4765191078186035, + 0.0, + 4.090341091156006 + ] + ], + "center": { + "x": 4.4479241371154785, + "y": 1.0435371398925781, + "z": 4.139999866485596 + }, + "size": { + "x": 1.94281005859375, + "y": 2.0870742797851562, + "z": 0.09931755065917969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 4.827890872955322, + "y": 0.004547119140625, + "z": 0.6480333209037781 + }, + "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|7|29" + ], + "distance": 6.041795253753662, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 6.184995651245117, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 6.184995651245117, + -1.8477439880371094e-06, + 0.02498549222946167 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 1.236283540725708 + ], + [ + 3.466787338256836, + 1.1708099842071533, + 0.02498549222946167 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 1.236283540725708 + ], + [ + 3.466787338256836, + -1.8477439880371094e-06, + 0.02498549222946167 + ] + ], + "center": { + "x": 4.825891494750977, + "y": 0.585404098033905, + "z": 0.6306344866752625 + }, + "size": { + "x": 2.7182083129882812, + "y": 1.1708118915557861, + "z": 1.2112979888916016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.184995651245117, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 1.236283540725708 + ], + [ + 3.466787099838257, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + -1.6689300537109375e-06, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 1.236283540725708 + ], + [ + 3.466787099838257, + 1.1708102226257324, + 0.02498549222946167 + ], + [ + 6.184995651245117, + 1.1708102226257324, + 0.02498549222946167 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.799999952316284, + "y": 0.9009997844696045, + "z": 6.300000190734863 + }, + "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": 3.799999952316284, + "y": 1.5759997367858887, + "z": 6.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|6|5", + "CounterTop|6|0" + ], + "different_object": [ + "Television|6|3", + "GarbageCan|7|2", + "DogBed|7|4", + "door|6|7", + "Sofa|7|1", + "Pillow|surface|7|29", + "window|7|0" + ] +} \ No newline at end of file diff --git a/train/train1708/4/0_depth_npy.npy b/train/train1708/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fb0c978d9719345bcdfc61861a62d2be7ddcf139 --- /dev/null +++ b/train/train1708/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35f44cf86d3d8f08137aec8125d9b4564471d9cf6a4859992dd87f1f38b92094 +size 3145856 diff --git a/train/train1708/4/0_semantic_sensor_npy.npy b/train/train1708/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a933134d4b79d71d6acc500d4f45ffdca04fa921 --- /dev/null +++ b/train/train1708/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:394c5438db5a4329f82e404cf0d7f61e324d96879ef900cdf2dc61b4bf654fac +size 2359424 diff --git a/train/train1708/4/1.json b/train/train1708/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..2868a46bd484e8f212ee1e34e7ee995519ad1d5f --- /dev/null +++ b/train/train1708/4/1.json @@ -0,0 +1,2322 @@ +{ + "object": [ + { + "objectId": "Fork|surface|6|14", + "object_info": { + "name": "Fork|surface|6|14", + "position": { + "x": 0.2560890316963196, + "y": 0.9384329319000244, + "z": 5.236566066741943 + }, + "rotation": { + "x": 3.6905491924699163e-06, + "y": 89.99987030029297, + "z": 0.000702229212038219 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.692218780517578, + "objectType": "Fork", + "objectId": "Fork|surface|6|14", + "assetId": "RoboTHOR_fork_ai2_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.36127540469169617, + 0.9685249328613281, + 5.251534938812256 + ], + [ + 0.36127540469169617, + 0.9685249328613281, + 5.221597194671631 + ], + [ + 0.36127540469169617, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.36127540469169617, + 0.9374663829803467, + 5.221597194671631 + ], + [ + 0.150902658700943, + 0.9685249328613281, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9685249328613281, + 5.221597194671631 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.221597194671631 + ] + ], + "center": { + "x": 0.2560890316963196, + "y": 0.9529956579208374, + "z": 5.236566066741943 + }, + "size": { + "x": 0.21037274599075317, + "y": 0.031058549880981445, + "z": 0.029937744140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.36127540469169617, + 0.9374667406082153, + 5.221597671508789 + ], + [ + 0.3612753450870514, + 0.9374663829803467, + 5.251534938812256 + ], + [ + 0.150902658700943, + 0.9374663829803467, + 5.251534461975098 + ], + [ + 0.15090271830558777, + 0.9374667406082153, + 5.221597194671631 + ], + [ + 0.36127540469169617, + 0.9685249328613281, + 5.221598148345947 + ], + [ + 0.3612753450870514, + 0.9685245752334595, + 5.251535415649414 + ], + [ + 0.150902658700943, + 0.9685245752334595, + 5.251534938812256 + ], + [ + 0.15090271830558777, + 0.9685249328613281, + 5.221597671508789 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|6|15", + "object_info": { + "name": "Vase|surface|6|15", + "position": { + "x": 0.3328497111797333, + "y": 0.9375024437904358, + "z": 5.08353853225708 + }, + "rotation": { + "x": 3.007233715379698e-07, + "y": 89.99993896484375, + "z": -2.8061154466740845e-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": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.6841349601745605, + "objectType": "Vase", + "objectId": "Vase|surface|6|15", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4085967540740967, + 1.0076344013214111, + 5.159034729003906 + ], + [ + 0.4085967540740967, + 1.0076344013214111, + 5.0080413818359375 + ], + [ + 0.4085967540740967, + 0.9374666213989258, + 5.159034729003906 + ], + [ + 0.4085967540740967, + 0.9374666213989258, + 5.0080413818359375 + ], + [ + 0.257604718208313, + 1.0076344013214111, + 5.159034729003906 + ], + [ + 0.257604718208313, + 1.0076344013214111, + 5.0080413818359375 + ], + [ + 0.257604718208313, + 0.9374666213989258, + 5.159034729003906 + ], + [ + 0.257604718208313, + 0.9374666213989258, + 5.0080413818359375 + ] + ], + "center": { + "x": 0.33310073614120483, + "y": 0.9725505113601685, + "z": 5.083538055419922 + }, + "size": { + "x": 0.1509920358657837, + "y": 0.07016777992248535, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.40859678387641907, + 0.9374664425849915, + 5.0080413818359375 + ], + [ + 0.4085966646671295, + 0.9374664425849915, + 5.159034729003906 + ], + [ + 0.2576046288013458, + 0.9374664425849915, + 5.159034252166748 + ], + [ + 0.25760477781295776, + 0.9374664425849915, + 5.0080413818359375 + ], + [ + 0.40859678387641907, + 1.0076345205307007, + 5.0080413818359375 + ], + [ + 0.4085966646671295, + 1.0076345205307007, + 5.159034729003906 + ], + [ + 0.2576046288013458, + 1.0076345205307007, + 5.159034252166748 + ], + [ + 0.25760477781295776, + 1.0076345205307007, + 5.0080413818359375 + ] + ] + } + } + }, + { + "objectId": "Painting|6|4", + "object_info": { + "name": "Painting|6|4", + "position": { + "x": 0.006129627116024494, + "y": 1.489218831062317, + "z": 7.077058792114258 + }, + "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": 2.925551652908325, + "objectType": "Painting", + "objectId": "Painting|6|4", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.024149425327777863, + 1.7936227321624756, + 7.305316925048828 + ], + [ + 0.024149425327777863, + 1.7936227321624756, + 6.8475141525268555 + ], + [ + 0.024149425327777863, + 1.185720682144165, + 7.305316925048828 + ], + [ + 0.024149425327777863, + 1.185720682144165, + 6.8475141525268555 + ], + [ + 0.005000026896595955, + 1.7936227321624756, + 7.305316925048828 + ], + [ + 0.005000026896595955, + 1.7936227321624756, + 6.8475141525268555 + ], + [ + 0.005000026896595955, + 1.185720682144165, + 7.305316925048828 + ], + [ + 0.005000026896595955, + 1.185720682144165, + 6.8475141525268555 + ] + ], + "center": { + "x": 0.014574726112186909, + "y": 1.4896717071533203, + "z": 7.076415538787842 + }, + "size": { + "x": 0.019149398431181908, + "y": 0.6079020500183105, + "z": 0.45780277252197266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|6|18", + "object_info": { + "name": "DishSponge|surface|6|18", + "position": { + "x": 0.5631317496299744, + "y": 0.9395577311515808, + "z": 4.7774834632873535 + }, + "rotation": { + "x": 4.5518761908169836e-05, + "y": 89.99998474121094, + "z": -0.0005439731758087873 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.6366994380950928, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|18", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9635059833526611, + 4.74070405960083 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374661445617676, + 4.74070405960083 + ] + ], + "center": { + "x": 0.5631317496299744, + "y": 0.9504860639572144, + "z": 4.7774834632873535 + }, + "size": { + "x": 0.1389460563659668, + "y": 0.026039838790893555, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6326047778129578, + 0.9374661445617676, + 4.74070405960083 + ], + [ + 0.632604718208313, + 0.9374668598175049, + 4.814262866973877 + ], + [ + 0.49365872144699097, + 0.9374669790267944, + 4.814262866973877 + ], + [ + 0.49365875124931335, + 0.9374662637710571, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635051488876343, + 4.74070405960083 + ], + [ + 0.6326047778129578, + 0.9635058641433716, + 4.814262390136719 + ], + [ + 0.49365875124931335, + 0.9635059833526611, + 4.814262390136719 + ], + [ + 0.49365878105163574, + 0.9635052680969238, + 4.74070405960083 + ] + ] + } + } + }, + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 7.456660000570992e-07, + "y": 1.0646860599517822, + "z": 5.495603561401367 + }, + "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": 2.8562917709350586, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Hung_48x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.12203670293092728, + 1.936255693435669, + 6.766789436340332 + ], + [ + 0.12203670293092728, + 1.936255693435669, + 5.494818687438965 + ], + [ + 0.12203670293092728, + 1.0637445449829102, + 6.766789436340332 + ], + [ + 0.12203670293092728, + 1.0637445449829102, + 5.494818687438965 + ], + [ + -0.12203680723905563, + 1.936255693435669, + 6.766789436340332 + ], + [ + -0.12203680723905563, + 1.936255693435669, + 5.494818687438965 + ], + [ + -0.12203680723905563, + 1.0637445449829102, + 6.766789436340332 + ], + [ + -0.12203680723905563, + 1.0637445449829102, + 5.494818687438965 + ] + ], + "center": { + "x": -5.21540641784668e-08, + "y": 1.5000001192092896, + "z": 6.130804061889648 + }, + "size": { + "x": 0.2440735101699829, + "y": 0.8725111484527588, + "z": 1.2719707489013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 0.2878253757953644, + "y": 0.0066471099853515625, + "z": 7.819133758544922 + }, + "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": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Lettuce|surface|6|12", + "Egg|surface|6|22" + ], + "distance": 3.0535800457000732, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7314099073410034, + 1.6926056146621704, + 8.255000114440918 + ], + [ + 0.7314099073410034, + 1.6926056146621704, + 7.401545524597168 + ], + [ + 0.7314099073410034, + 0.0, + 8.255000114440918 + ], + [ + 0.7314099073410034, + 0.0, + 7.401545524597168 + ], + [ + 0.025000035762786865, + 1.6926056146621704, + 8.255000114440918 + ], + [ + 0.025000035762786865, + 1.6926056146621704, + 7.401545524597168 + ], + [ + 0.025000035762786865, + 0.0, + 8.255000114440918 + ], + [ + 0.025000035762786865, + 0.0, + 7.401545524597168 + ] + ], + "center": { + "x": 0.37820497155189514, + "y": 0.8463028073310852, + "z": 7.828272819519043 + }, + "size": { + "x": 0.7064098715782166, + "y": 1.6926056146621704, + "z": 0.85345458984375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|surface|6|20", + "object_info": { + "name": "SaltShaker|surface|6|20", + "position": { + "x": 0.5631306171417236, + "y": 0.9374640583992004, + "z": 5.083537578582764 + }, + "rotation": { + "x": -0.0052022612653672695, + "y": 89.9997329711914, + "z": 359.9933166503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.4787824153900146, + "objectType": "SaltShaker", + "objectId": "SaltShaker|surface|6|20", + "assetId": "Salt_Shaker_2", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6031076312065125, + 1.1344873905181885, + 5.120771408081055 + ], + [ + 0.6031076312065125, + 1.1344873905181885, + 5.046280860900879 + ], + [ + 0.6031076312065125, + 0.9374566078186035, + 5.120771408081055 + ], + [ + 0.6031076312065125, + 0.9374566078186035, + 5.046280860900879 + ], + [ + 0.528911292552948, + 1.1344873905181885, + 5.120771408081055 + ], + [ + 0.528911292552948, + 1.1344873905181885, + 5.046280860900879 + ], + [ + 0.528911292552948, + 0.9374566078186035, + 5.120771408081055 + ], + [ + 0.528911292552948, + 0.9374566078186035, + 5.046280860900879 + ] + ], + "center": { + "x": 0.5660094618797302, + "y": 1.035971999168396, + "z": 5.083526134490967 + }, + "size": { + "x": 0.07419633865356445, + "y": 0.19703078269958496, + "z": 0.07449054718017578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6031076312065125, + 0.9374633431434631, + 5.046304225921631 + ], + [ + 0.6031072735786438, + 0.9374720454216003, + 5.120771408081055 + ], + [ + 0.5289291739463806, + 0.9374653100967407, + 5.1207709312438965 + ], + [ + 0.5289295315742493, + 0.9374566078186035, + 5.046303749084473 + ], + [ + 0.6030897498130798, + 1.1344786882400513, + 5.046281337738037 + ], + [ + 0.6030893921852112, + 1.1344873905181885, + 5.120748043060303 + ], + [ + 0.528911292552948, + 1.134480595588684, + 5.120748043060303 + ], + [ + 0.5289115905761719, + 1.1344718933105469, + 5.046280860900879 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|13", + "object_info": { + "name": "Toaster|surface|6|13", + "position": { + "x": 0.4096106290817261, + "y": 0.9374666810035706, + "z": 4.624452590942383 + }, + "rotation": { + "x": 1.4111724340182263e-05, + "y": 89.99987030029297, + "z": 2.0073312043678015e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.849764108657837, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|13", + "assetId": "Toaster_9", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5902489423751831, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.5902489423751831, + 0.9374663829803467, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 1.1438839435577393, + 4.5298686027526855 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.71903657913208 + ], + [ + 0.24769365787506104, + 0.9374663829803467, + 4.5298686027526855 + ] + ], + "center": { + "x": 0.41897130012512207, + "y": 1.040675163269043, + "z": 4.624452590942383 + }, + "size": { + "x": 0.34255528450012207, + "y": 0.20641756057739258, + "z": 0.18916797637939453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5902494788169861, + 0.9374665021896362, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 0.9374664425849915, + 4.719037055969238 + ], + [ + 0.2476929873228073, + 0.9374665021896362, + 4.71903657913208 + ], + [ + 0.24769340455532074, + 0.937466561794281, + 4.529868125915527 + ], + [ + 0.5902495384216309, + 1.143884539604187, + 4.529869079589844 + ], + [ + 0.5902490615844727, + 1.1438844203948975, + 4.719037055969238 + ], + [ + 0.2476930320262909, + 1.143884539604187, + 4.71903657913208 + ], + [ + 0.24769344925880432, + 1.143884539604187, + 4.5298686027526855 + ] + ] + } + } + }, + { + "objectId": "Lettuce|surface|6|19", + "object_info": { + "name": "Lettuce|surface|6|19", + "position": { + "x": 0.4867231547832489, + "y": 0.9966291189193726, + "z": 5.237242698669434 + }, + "rotation": { + "x": 0.33815568685531616, + "y": 90.00554656982422, + "z": 0.6548462510108948 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 2.481379508972168, + "objectType": "Lettuce", + "objectId": "Lettuce|surface|6|19", + "assetId": "Lettuce_29", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5925901532173157, + 1.0818521976470947, + 5.313623428344727 + ], + [ + 0.5925901532173157, + 1.0818521976470947, + 5.168584823608398 + ], + [ + 0.5925901532173157, + 0.9374537467956543, + 5.313623428344727 + ], + [ + 0.5925901532173157, + 0.9374537467956543, + 5.168584823608398 + ], + [ + 0.3852663040161133, + 1.0818521976470947, + 5.313623428344727 + ], + [ + 0.3852663040161133, + 1.0818521976470947, + 5.168584823608398 + ], + [ + 0.3852663040161133, + 0.9374537467956543, + 5.313623428344727 + ], + [ + 0.3852663040161133, + 0.9374537467956543, + 5.168584823608398 + ] + ], + "center": { + "x": 0.4889282286167145, + "y": 1.0096529722213745, + "z": 5.2411041259765625 + }, + "size": { + "x": 0.2073238492012024, + "y": 0.14439845085144043, + "z": 0.14503860473632812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.59222412109375, + 0.937721848487854, + 5.16776180267334 + ], + [ + 0.5922284126281738, + 0.9360646605491638, + 5.3127522468566895 + ], + [ + 0.38484418392181396, + 0.9372886419296265, + 5.312772274017334 + ], + [ + 0.3848399221897125, + 0.9389458298683167, + 5.167781829833984 + ], + [ + 0.5930750370025635, + 1.081871509552002, + 5.169409275054932 + ], + [ + 0.5930793285369873, + 1.0802143812179565, + 5.314399719238281 + ], + [ + 0.38569509983062744, + 1.0814383029937744, + 5.314419746398926 + ], + [ + 0.3856908679008484, + 1.0830955505371094, + 5.169429302215576 + ] + ] + } + } + }, + { + "objectId": "PaperTowelRoll|surface|6|24", + "object_info": { + "name": "PaperTowelRoll|surface|6|24", + "position": { + "x": 0.10260233283042908, + "y": 1.044922113418579, + "z": 4.777514457702637 + }, + "rotation": { + "x": 0.015799662098288536, + "y": 89.99725341796875, + "z": 0.015023683197796345 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.2199999988079071, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.032761573791504, + "objectType": "PaperTowelRoll", + "objectId": "PaperTowelRoll|surface|6|24", + "assetId": "Paper_Towel_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.13355273008346558, + 1.1523816585540771, + 4.824245452880859 + ], + [ + 0.13355273008346558, + 1.1523816585540771, + 4.746564865112305 + ], + [ + 0.13355273008346558, + 0.937462568283081, + 4.824245452880859 + ], + [ + 0.13355273008346558, + 0.937462568283081, + 4.746564865112305 + ], + [ + 0.06860710680484772, + 1.1523816585540771, + 4.824245452880859 + ], + [ + 0.06860710680484772, + 1.1523816585540771, + 4.746564865112305 + ], + [ + 0.06860710680484772, + 0.937462568283081, + 4.824245452880859 + ], + [ + 0.06860710680484772, + 0.937462568283081, + 4.746564865112305 + ] + ], + "center": { + "x": 0.10107991844415665, + "y": 1.044922113418579, + "z": 4.785405158996582 + }, + "size": { + "x": 0.06494562327861786, + "y": 0.2149190902709961, + "z": 0.07768058776855469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.13349436223506927, + 0.9374739527702332, + 4.746567726135254 + ], + [ + 0.133490651845932, + 0.9374536275863647, + 4.824192523956299 + ], + [ + 0.06860677897930145, + 0.9374715089797974, + 4.824189186096191 + ], + [ + 0.06861050426959991, + 0.9374918937683105, + 4.7465643882751465 + ], + [ + 0.1335536241531372, + 1.1523693799972534, + 4.746623992919922 + ], + [ + 0.13354989886283875, + 1.1523491144180298, + 4.824248790740967 + ], + [ + 0.06866603344678879, + 1.1523669958114624, + 4.824245452880859 + ], + [ + 0.06866975128650665, + 1.152387261390686, + 4.7466206550598145 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|25", + "object_info": { + "name": "SprayBottle|surface|6|25", + "position": { + "x": 0.4096115231513977, + "y": 0.9369469881057739, + "z": 4.471437931060791 + }, + "rotation": { + "x": 0.014869173988699913, + "y": 89.99882507324219, + "z": 0.040896009653806686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9397268295288086, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|25", + "assetId": "Spray_Bottle_4", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4697638154029846, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.4697638154029846, + 0.9374383687973022, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 1.1829575300216675, + 4.455009460449219 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.488008499145508 + ], + [ + 0.35726702213287354, + 0.9374383687973022, + 4.455009460449219 + ] + ], + "center": { + "x": 0.4135154187679291, + "y": 1.0601979494094849, + "z": 4.471508979797363 + }, + "size": { + "x": 0.11249679327011108, + "y": 0.24551916122436523, + "z": 0.03299903869628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.469733864068985, + 0.9374619126319885, + 4.455012321472168 + ], + [ + 0.46973317861557007, + 0.937438428401947, + 4.4878668785095215 + ], + [ + 0.35726696252822876, + 0.937467634677887, + 4.4878644943237305 + ], + [ + 0.3572676181793213, + 0.9374910593032837, + 4.455009937286377 + ], + [ + 0.4697975814342499, + 1.1829599142074585, + 4.4551873207092285 + ], + [ + 0.46979689598083496, + 1.1829365491867065, + 4.488041877746582 + ], + [ + 0.35733065009117126, + 1.1829657554626465, + 4.488039970397949 + ], + [ + 0.3573313355445862, + 1.1829891204833984, + 4.4551849365234375 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.025398969650268555, + "y": 5.960464477539063e-08, + "z": 4.1660356521606445 + }, + "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": [ + "Spatula|surface|6|17", + "SaltShaker|surface|6|20", + "Vase|surface|6|15", + "Toaster|surface|6|13", + "SoapBottle|surface|6|21", + "Spatula|surface|6|16", + "PaperTowelRoll|surface|6|24", + "SprayBottle|surface|6|25", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "DishSponge|surface|6|18" + ], + "distance": 3.546570062637329, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_4x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6355515718460083, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.6355515718460083, + 0.0, + 5.385281562805176 + ], + [ + 0.6355515718460083, + 0.0, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.9374666213989258, + 4.164999961853027 + ], + [ + 0.02499997615814209, + 0.0, + 5.385281562805176 + ], + [ + 0.02499997615814209, + 0.0, + 4.164999961853027 + ] + ], + "center": { + "x": 0.3302757740020752, + "y": 0.4687333106994629, + "z": 4.775140762329102 + }, + "size": { + "x": 0.6105515956878662, + "y": 0.9374666213989258, + "z": 1.2202816009521484 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.14499568939209 + }, + "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": 2.742511749267578, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6266024112701416, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.176741123199463 + ], + [ + 1.6266024112701416, + 1.338834524154663, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.9854862689971924, + 4.144999980926514 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.176741123199463 + ], + [ + 0.7041945457458496, + 1.338834524154663, + 4.144999980926514 + ] + ], + "center": { + "x": 1.1653984785079956, + "y": 1.6621603965759277, + "z": 4.160870552062988 + }, + "size": { + "x": 0.922407865524292, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|surface|6|21", + "object_info": { + "name": "SoapBottle|surface|6|21", + "position": { + "x": 0.48637279868125916, + "y": 0.9395943880081177, + "z": 4.318403244018555 + }, + "rotation": { + "x": 0.008398315869271755, + "y": 89.99995422363281, + "z": -0.0027105396147817373 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.9759979248046875, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|21", + "assetId": "Soap_Bottle_21", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5462433099746704, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.5462433099746704, + 0.9374622106552124, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 1.188435435295105, + 4.259096622467041 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.3787970542907715 + ], + [ + 0.42654573917388916, + 0.9374622106552124, + 4.259096622467041 + ] + ], + "center": { + "x": 0.4863945245742798, + "y": 1.0629488229751587, + "z": 4.318946838378906 + }, + "size": { + "x": 0.11969757080078125, + "y": 0.2509732246398926, + "z": 0.11970043182373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5462232232093811, + 0.9374562501907349, + 4.259103298187256 + ], + [ + 0.5462231636047363, + 0.9374619126319885, + 4.378803253173828 + ], + [ + 0.4265255630016327, + 0.9374794960021973, + 4.378803253173828 + ], + [ + 0.42652565240859985, + 0.9374738335609436, + 4.259103298187256 + ], + [ + 0.5462599992752075, + 1.1884355545043945, + 4.259091377258301 + ], + [ + 0.5462599396705627, + 1.188441276550293, + 4.378791332244873 + ], + [ + 0.4265623688697815, + 1.188458800315857, + 4.378791332244873 + ], + [ + 0.42656242847442627, + 1.1884530782699585, + 4.259091377258301 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|17", + "object_info": { + "name": "Spatula|surface|6|17", + "position": { + "x": 0.3328872323036194, + "y": 0.9448754191398621, + "z": 4.930285453796387 + }, + "rotation": { + "x": 0.19171346724033356, + "y": 89.99823760986328, + "z": 358.8579406738281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.754270553588867, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|17", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5536202788352966, + 0.9545079469680786, + 4.962465286254883 + ], + [ + 0.5536202788352966, + 0.9545079469680786, + 4.898073196411133 + ], + [ + 0.5536202788352966, + 0.9362014532089233, + 4.962465286254883 + ], + [ + 0.5536202788352966, + 0.9362014532089233, + 4.898073196411133 + ], + [ + 0.25608986616134644, + 0.9545079469680786, + 4.962465286254883 + ], + [ + 0.25608986616134644, + 0.9545079469680786, + 4.898073196411133 + ], + [ + 0.25608986616134644, + 0.9362014532089233, + 4.962465286254883 + ], + [ + 0.25608986616134644, + 0.9362014532089233, + 4.898073196411133 + ] + ], + "center": { + "x": 0.40485507249832153, + "y": 0.945354700088501, + "z": 4.930269241333008 + }, + "size": { + "x": 0.2975304126739502, + "y": 0.018306493759155273, + "z": 0.06439208984375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5535707473754883, + 0.9358914494514465, + 4.89841890335083 + ], + [ + 0.5535731315612793, + 0.937168300151825, + 4.962469100952148 + ], + [ + 0.25606289505958557, + 0.9381638169288635, + 4.962459564208984 + ], + [ + 0.2560606002807617, + 0.9368869662284851, + 4.898409843444824 + ], + [ + 0.5536288022994995, + 0.9532293081283569, + 4.898073196411133 + ], + [ + 0.553631067276001, + 0.9545061588287354, + 4.962123394012451 + ], + [ + 0.2561209201812744, + 0.9555016756057739, + 4.962114334106445 + ], + [ + 0.2561185956001282, + 0.9542248249053955, + 4.898064136505127 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|16", + "object_info": { + "name": "Spatula|surface|6|16", + "position": { + "x": 0.1793704628944397, + "y": 0.9448747634887695, + "z": 4.3181471824646 + }, + "rotation": { + "x": 0.19126881659030914, + "y": 89.99832916259766, + "z": 358.85308837890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.215916156768799, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|16", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.40010350942611694, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.40010350942611694, + 0.9361993074417114, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9545117616653442, + 4.285933971405029 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.350327968597412 + ], + [ + 0.10257309675216675, + 0.9361993074417114, + 4.285933971405029 + ] + ], + "center": { + "x": 0.25133830308914185, + "y": 0.9453555345535278, + "z": 4.318130970001221 + }, + "size": { + "x": 0.2975304126739502, + "y": 0.018312454223632812, + "z": 0.06439399719238281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.40005403757095337, + 0.9358898401260376, + 4.286281108856201 + ], + [ + 0.4000564217567444, + 0.9371721148490906, + 4.350330829620361 + ], + [ + 0.10254623740911484, + 0.9381652474403381, + 4.350322246551514 + ], + [ + 0.10254382342100143, + 0.9368829727172852, + 4.286272048950195 + ], + [ + 0.4001119136810303, + 0.9532276391983032, + 4.285933971405029 + ], + [ + 0.4001142978668213, + 0.9545099139213562, + 4.3499836921691895 + ], + [ + 0.10260412842035294, + 0.9555031061172485, + 4.349975109100342 + ], + [ + 0.10260171443223953, + 0.9542208313941956, + 4.285924911499023 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.9000000953674316, + "y": 0.9009997844696045, + "z": 6.300000190734863 + }, + "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": 3.9000000953674316, + "y": 1.5759997367858887, + "z": 6.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|6|5", + "CounterTop|6|0" + ], + "different_object": [ + "Spatula|surface|6|16", + "SprayBottle|surface|6|25", + "Toaster|surface|6|13", + "window|6|0", + "Fork|surface|6|14", + "Lettuce|surface|6|19", + "PaperTowelRoll|surface|6|24", + "SoapBottle|surface|6|21", + "Painting|6|4", + "SaltShaker|surface|6|20", + "Spatula|surface|6|17", + "Fridge|6|1", + "DishSponge|surface|6|18", + "Vase|surface|6|15" + ] +} \ No newline at end of file diff --git a/train/train1708/4/1_depth_npy.npy b/train/train1708/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5a784af6fbd3ae721b14e67a0be5d552e9af3ec7 --- /dev/null +++ b/train/train1708/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f70c11cea624cd99bce556b5c3ee86df27751e3821d66dff0a3972a0f70edff +size 3145856 diff --git a/train/train1708/4/1_semantic_sensor_npy.npy b/train/train1708/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cef36cb06692bfc4f9bdd7f29ecd8a451302f2b4 --- /dev/null +++ b/train/train1708/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:125a213bf096ea6a1ffe876798bb7d180c450131594b5e2720b883bdd2df03bf +size 2359424 diff --git a/train/train1708/4/depth_0.png b/train/train1708/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3af6e9cd3dd10e1082a69eefab418dcb6587c82c Binary files /dev/null and b/train/train1708/4/depth_0.png differ diff --git a/train/train1708/4/depth_1.png b/train/train1708/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a770ca7de85aac5144c70dfdb6bf1e7b16f5adff Binary files /dev/null and b/train/train1708/4/depth_1.png differ diff --git a/train/train1708/4/mask_questions.jsonl b/train/train1708/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0c963f330c552ab8a2788e3138a1db28f9df508 --- /dev/null +++ b/train/train1708/4/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 4847, "folder_dir": "train1708/4", "pair_name": "0-1:Painting|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. DogBed\nB. CounterTop\nC. Painting\nD. GarbageCan", "answer": "C", "object_name": "Painting", "image_1": "train1708/4/rgb_0.png", "image_2": "train1708/4/rgb_1.png", "mask_image": "train1708/4/rgb_1_mask_Painting|6|5.png", "options": ["DogBed", "CounterTop", "Painting", "GarbageCan"]} +{"id": 4848, "folder_dir": "train1708/4", "pair_name": "1-0:Painting|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. PaperTowelRoll\nB. CounterTop\nC. Painting\nD. DishSponge", "answer": "C", "object_name": "Painting", "image_1": "train1708/4/rgb_1.png", "image_2": "train1708/4/rgb_0.png", "mask_image": "train1708/4/rgb_0_mask_Painting|6|5.png", "options": ["PaperTowelRoll", "CounterTop", "Painting", "DishSponge"]} +{"id": 4849, "folder_dir": "train1708/4", "pair_name": "1-0:CounterTop|6|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. Painting\nB. Lettuce\nC. CounterTop\nD. SaltShaker", "answer": "C", "object_name": "CounterTop", "image_1": "train1708/4/rgb_1.png", "image_2": "train1708/4/rgb_0.png", "mask_image": "train1708/4/rgb_0_mask_CounterTop|6|0.png", "options": ["Painting", "Lettuce", "CounterTop", "SaltShaker"]} diff --git a/train/train1708/4/questions_distance.jsonl b/train/train1708/4/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f532c4d8fcd6e5717ed2c2cf0c83842b0fc0f58 --- /dev/null +++ b/train/train1708/4/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1963, "folder_dir": "train1708/4", "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. DishSponge\nB. Vase\nC. Toaster\nD. Other\n", "answer": "A", "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": "DishSponge", "semantic_id": "DishSponge|surface|6|18", "distance": 0.5350823384347726, "com": {"x": 0.5631317496299744, "y": 0.9504860639572144, "z": 4.7774834632873535}}, {"text": "Vase", "semantic_id": "Vase|surface|6|15", "distance": 0.5907187507421975, "com": {"x": 0.33310073614120483, "y": 0.9725505113601685, "z": 5.083538055419922}}, {"text": "Toaster", "semantic_id": "Toaster|surface|6|13", "distance": 0.5980729922600088, "com": {"x": 0.41897130012512207, "y": 1.040675163269043, "z": 4.624452590942383}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1708/4/rgb_0.png", "image_2": "train1708/4/rgb_1.png"} diff --git a/train/train1708/4/rgb_0.png b/train/train1708/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..72314d5dd266668e412fe6e0a4350ceaa7e64605 --- /dev/null +++ b/train/train1708/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70e577fc2f52c5d37a39f90e94c4ac587f67fdf68dc1b7872a385882a4ee5ab2 +size 673750 diff --git a/train/train1708/4/rgb_0_mask_CounterTop|6|0.png b/train/train1708/4/rgb_0_mask_CounterTop|6|0.png new file mode 100644 index 0000000000000000000000000000000000000000..a9d9b0ac2b5ca2d410b473232d4098e82fddf888 --- /dev/null +++ b/train/train1708/4/rgb_0_mask_CounterTop|6|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf40a2c43b9627953c6c0422fce54ac9068b969bfa2433e6773f5a8aa3314282 +size 603714 diff --git a/train/train1708/4/rgb_0_mask_Painting|6|5.png b/train/train1708/4/rgb_0_mask_Painting|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..b22d06f01d408bce18fe2a50ef568866d64ec26a --- /dev/null +++ b/train/train1708/4/rgb_0_mask_Painting|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f28bc40fbb9023fde5dbbc74aaa72ee737f2b09aac2ffaa98b3b9426d219ed3 +size 591393 diff --git a/train/train1708/4/rgb_1.png b/train/train1708/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..50cf497fa68fb06530727690f62be4a288f5cf31 --- /dev/null +++ b/train/train1708/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6980cf1828ea896d9fd27dfe23320b5195504c21d32f284a1495e7a21400235b +size 566345 diff --git a/train/train1708/4/rgb_1_mask_Painting|6|5.png b/train/train1708/4/rgb_1_mask_Painting|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..26687141dadd708a8bdf8cf478eccba5953e9b32 --- /dev/null +++ b/train/train1708/4/rgb_1_mask_Painting|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3be2f1a165c27a50d7863127d21df83bd09d858eee9b97586af10110cdcab80d +size 497041 diff --git a/train/train1708/4/semantic_0.png b/train/train1708/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..025089c404b3ee350affae8aba8fca95b8a8891d Binary files /dev/null and b/train/train1708/4/semantic_0.png differ diff --git a/train/train1708/4/semantic_1.png b/train/train1708/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..81e4e34f6c140637ddb8d472426f1bc43608e781 Binary files /dev/null and b/train/train1708/4/semantic_1.png differ diff --git a/train/train1708/color_to_object_id.json b/train/train1708/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..48beda65742020617c02b27a7846c297f35d581f --- /dev/null +++ b/train/train1708/color_to_object_id.json @@ -0,0 +1,1626 @@ +[ + { + "window|4|0": [ + 148, + 40, + 210 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "window|7|1": [ + 163, + 9, + 23 + ] + }, + { + "window|7|0": [ + 75, + 237, + 134 + ] + }, + { + "door|1|6": [ + 130, + 205, + 0 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|4|6": [ + 88, + 85, + 16 + ] + }, + { + "door|6|7": [ + 203, + 131, + 110 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|6|5": [ + 177, + 100, + 11 + ] + }, + { + "Painting|6|4": [ + 14, + 140, + 224 + ] + }, + { + "Television|4|4": [ + 237, + 194, + 238 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "Television|6|3": [ + 86, + 104, + 12 + ] + }, + { + "Television|7|5": [ + 146, + 214, + 75 + ] + }, + { + "DogBed|7|4": [ + 125, + 101, + 188 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Statue|surface|7|30": [ + 76, + 252, + 98 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "CellPhone|surface|7|27": [ + 205, + 244, + 149 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "Dresser|7|3___7": [ + 133, + 226, + 193 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|7|3___6": [ + 182, + 17, + 177 + ] + }, + { + "Dresser|7|3___5": [ + 156, + 90, + 130 + ] + }, + { + "Dresser|7|3___4": [ + 239, + 232, + 78 + ] + }, + { + "Dresser|7|3___3": [ + 241, + 16, + 149 + ] + }, + { + "Dresser|7|3___2": [ + 36, + 216, + 3 + ] + }, + { + "Dresser|7|3___1": [ + 11, + 176, + 22 + ] + }, + { + "Dresser|7|3___0": [ + 173, + 179, + 214 + ] + }, + { + "Dresser|7|3": [ + 150, + 218, + 164 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "GarbageCan|7|2": [ + 162, + 18, + 162 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Pillow|surface|7|29": [ + 16, + 16, + 8 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Sofa|7|1": [ + 207, + 240, + 173 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "Chair|7|0|4": [ + 151, + 127, + 149 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Chair|7|0|3": [ + 172, + 194, + 243 + ] + }, + { + "Chair|7|0|2": [ + 79, + 131, + 128 + ] + }, + { + "Chair|7|0|1": [ + 251, + 16, + 247 + ] + }, + { + "Bowl|surface|7|28": [ + 102, + 24, + 136 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|7|26": [ + 8, + 188, + 111 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "DiningTable|7|0|0": [ + 101, + 250, + 32 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "HousePlant|6|2|0": [ + 120, + 227, + 200 + ] + }, + { + "Egg|surface|6|23": [ + 207, + 113, + 95 + ] + }, + { + "Egg": [ + 240, + 75, + 163 + ] + }, + { + "Egg|surface|6|22": [ + 15, + 169, + 125 + ] + }, + { + "Lettuce|surface|6|12": [ + 22, + 87, + 160 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "Fridge|6|1": [ + 45, + 15, + 119 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "SprayBottle|surface|6|25": [ + 163, + 68, + 72 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "PaperTowelRoll|surface|6|24": [ + 132, + 222, + 203 + ] + }, + { + "PaperTowelRoll": [ + 144, + 173, + 28 + ] + }, + { + "SoapBottle|surface|6|21": [ + 184, + 192, + 90 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "SaltShaker|surface|6|20": [ + 46, + 42, + 196 + ] + }, + { + "SaltShaker": [ + 36, + 222, + 26 + ] + }, + { + "Lettuce|surface|6|19": [ + 131, + 198, + 143 + ] + }, + { + "DishSponge|surface|6|18": [ + 38, + 18, + 127 + ] + }, + { + "DishSponge": [ + 166, + 58, + 136 + ] + }, + { + "Spatula|surface|6|17": [ + 191, + 13, + 54 + ] + }, + { + "Spatula": [ + 30, + 98, + 242 + ] + }, + { + "Spatula|surface|6|16": [ + 204, + 64, + 239 + ] + }, + { + "Vase|surface|6|15": [ + 1, + 178, + 164 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Fork|surface|6|14": [ + 1, + 71, + 192 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Toaster|surface|6|13": [ + 93, + 231, + 98 + ] + }, + { + "Toaster": [ + 55, + 33, + 114 + ] + }, + { + "CounterTop|6|0": [ + 175, + 244, + 241 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Plunger|5|4": [ + 92, + 177, + 31 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "TissueBox|surface|5|11": [ + 209, + 106, + 251 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "HousePlant|surface|5|10": [ + 82, + 177, + 1 + ] + }, + { + "Dresser|5|3___2": [ + 232, + 138, + 69 + ] + }, + { + "Dresser|5|3___1": [ + 206, + 235, + 53 + ] + }, + { + "Dresser|5|3___0": [ + 44, + 155, + 85 + ] + }, + { + "Dresser|5|3": [ + 228, + 187, + 180 + ] + }, + { + "LaundryHamper|5|2": [ + 18, + 45, + 58 + ] + }, + { + "LaundryHamper": [ + 35, + 109, + 26 + ] + }, + { + "DishSponge|surface|5|9": [ + 150, + 165, + 139 + ] + }, + { + "Faucet|5|1|1": [ + 65, + 42, + 255 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|5|1|0___0": [ + 245, + 52, + 66 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|5|1|0": [ + 201, + 233, + 65 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "ToiletPaper|surface|5|8": [ + 194, + 157, + 90 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|5|7": [ + 87, + 196, + 16 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "Toilet|5|0": [ + 241, + 253, + 188 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "DogBed|4|3": [ + 210, + 5, + 133 + ] + }, + { + "HousePlant|4|2|0": [ + 31, + 129, + 142 + ] + }, + { + "Watch|surface|4|4": [ + 117, + 102, + 230 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Pen|surface|4|2": [ + 215, + 168, + 175 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "KeyChain|surface|4|1": [ + 221, + 16, + 45 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "CellPhone|surface|4|0": [ + 239, + 174, + 221 + ] + }, + { + "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 + ] + }, + { + "Box|surface|4|6": [ + 202, + 123, + 32 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "TeddyBear|surface|4|5": [ + 77, + 16, + 195 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "RemoteControl|surface|4|3": [ + 187, + 164, + 208 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|4|0|1": [ + 118, + 170, + 200 + ] + }, + { + "Bed|4|0|0": [ + 9, + 129, + 64 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "Ceiling_room|7|0|3.282873|0": [ + 111, + 101, + 209 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|6|0|3.282873|0": [ + 35, + 252, + 99 + ] + }, + { + "Ceiling_room|5|0|3.282873|0": [ + 23, + 44, + 53 + ] + }, + { + "Ceiling_room|4|0|3.282873|0": [ + 227, + 69, + 56 + ] + }, + { + "wall|exterior|12.42|4.14|12.42|12.42": [ + 100, + 164, + 50 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|10.35|4.14|12.42|4.14": [ + 174, + 154, + 222 + ] + }, + { + "wall|exterior|10.35|12.42|12.42|12.42": [ + 249, + 110, + 255 + ] + }, + { + "wall|exterior|6.21|4.14|10.35|4.14": [ + 222, + 33, + 100 + ] + }, + { + "wall|exterior|8.28|12.42|10.35|12.42": [ + 55, + 149, + 1 + ] + }, + { + "wall|exterior|8.28|10.35|8.28|12.42": [ + 22, + 97, + 239 + ] + }, + { + "wall|exterior|4.14|10.35|8.28|10.35": [ + 130, + 137, + 180 + ] + }, + { + "wall|exterior|0.00|4.14|0.00|8.28": [ + 149, + 252, + 208 + ] + }, + { + "wall|exterior|0.00|8.28|2.07|8.28": [ + 74, + 136, + 158 + ] + }, + { + "wall|exterior|2.07|10.35|4.14|10.35": [ + 156, + 18, + 119 + ] + }, + { + "wall|exterior|2.07|8.28|2.07|10.35": [ + 44, + 251, + 99 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|4.14": [ + 78, + 170, + 13 + ] + }, + { + "wall|exterior|6.21|0.00|6.21|4.14": [ + 186, + 149, + 227 + ] + }, + { + "wall|exterior|0.00|0.00|6.21|0.00": [ + 51, + 76, + 14 + ] + }, + { + "wall|7|0.00|0.00|6.21|0.00": [ + 179, + 67, + 60 + ] + }, + { + "wall|7|6.21|0.00|6.21|4.14": [ + 41, + 168, + 128 + ] + }, + { + "wall|7|0.00|4.14|6.21|4.14": [ + 61, + 66, + 86 + ] + }, + { + "wall|7|0.00|0.00|0.00|4.14": [ + 58, + 27, + 45 + ] + }, + { + "wall|6|0.00|8.28|2.07|8.28": [ + 240, + 70, + 119 + ] + }, + { + "wall|6|0.00|4.14|0.00|8.28": [ + 2, + 140, + 249 + ] + }, + { + "wall|6|0.00|4.14|6.21|4.14": [ + 101, + 208, + 241 + ] + }, + { + "wall|6|6.21|4.14|6.21|6.21": [ + 54, + 199, + 220 + ] + }, + { + "wall|6|4.14|6.21|6.21|6.21": [ + 11, + 238, + 24 + ] + }, + { + "wall|6|4.14|6.21|4.14|10.35": [ + 51, + 39, + 231 + ] + }, + { + "wall|6|2.07|10.35|4.14|10.35": [ + 43, + 160, + 249 + ] + }, + { + "wall|6|2.07|8.28|2.07|10.35": [ + 173, + 99, + 79 + ] + }, + { + "wall|5|10.35|4.14|12.42|4.14": [ + 102, + 3, + 128 + ] + }, + { + "wall|5|12.42|4.14|12.42|12.42": [ + 0, + 69, + 48 + ] + }, + { + "wall|5|10.35|12.42|12.42|12.42": [ + 247, + 161, + 231 + ] + }, + { + "wall|5|10.35|4.14|10.35|12.42": [ + 65, + 187, + 239 + ] + }, + { + "wall|4|4.14|6.21|6.21|6.21": [ + 208, + 184, + 90 + ] + }, + { + "wall|4|6.21|4.14|6.21|6.21": [ + 98, + 233, + 196 + ] + }, + { + "wall|4|6.21|4.14|10.35|4.14": [ + 98, + 99, + 155 + ] + }, + { + "wall|4|10.35|4.14|10.35|12.42": [ + 159, + 4, + 175 + ] + }, + { + "wall|4|8.28|12.42|10.35|12.42": [ + 176, + 4, + 59 + ] + }, + { + "wall|4|8.28|10.35|8.28|12.42": [ + 128, + 38, + 239 + ] + }, + { + "wall|4|4.14|10.35|8.28|10.35": [ + 208, + 4, + 118 + ] + }, + { + "wall|4|4.14|6.21|4.14|10.35": [ + 191, + 247, + 199 + ] + }, + { + "room|7": [ + 183, + 155, + 144 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "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/train950/0/0.json b/train/train950/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train950/0/0.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/train950/0/0_depth_npy.npy b/train/train950/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train950/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train950/0/0_semantic_sensor_npy.npy b/train/train950/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train950/0/0_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/train950/0/1.json b/train/train950/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train950/0/1.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/train950/0/1_depth_npy.npy b/train/train950/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train950/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train950/0/1_semantic_sensor_npy.npy b/train/train950/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train950/0/1_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/train950/0/depth_0.png b/train/train950/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train950/0/depth_0.png differ diff --git a/train/train950/0/depth_1.png b/train/train950/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train950/0/depth_1.png differ diff --git a/train/train950/0/mask_questions.jsonl b/train/train950/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21bf7505aa33a5cb9ae6b3c931468ee0d63d4d7d --- /dev/null +++ b/train/train950/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 4832, "folder_dir": "train950/0", "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. CellPhone\nB. Chair\nC. Doorway\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "train950/0/rgb_0.png", "image_2": "train950/0/rgb_1.png", "mask_image": "train950/0/rgb_1_mask_Fridge|2|1.png", "options": ["CellPhone", "Chair", "Doorway", "Fridge"]} +{"id": 4833, "folder_dir": "train950/0", "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. Drawer\nB. Chair\nC. Book\nD. Fridge", "answer": "B", "object_name": "Chair", "image_1": "train950/0/rgb_0.png", "image_2": "train950/0/rgb_1.png", "mask_image": "train950/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Drawer", "Chair", "Book", "Fridge"]} +{"id": 4834, "folder_dir": "train950/0", "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. Plate\nC. Fridge\nD. Drawer", "answer": "A", "object_name": "DiningTable", "image_1": "train950/0/rgb_0.png", "image_2": "train950/0/rgb_1.png", "mask_image": "train950/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["DiningTable", "Plate", "Fridge", "Drawer"]} +{"id": 4835, "folder_dir": "train950/0", "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. Painting\nC. Fridge\nD. Chair", "answer": "C", "object_name": "Fridge", "image_1": "train950/0/rgb_1.png", "image_2": "train950/0/rgb_0.png", "mask_image": "train950/0/rgb_0_mask_Fridge|2|1.png", "options": ["Painting", "Painting", "Fridge", "Chair"]} +{"id": 4836, "folder_dir": "train950/0", "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. Fridge\nB. Chair\nC. Painting\nD. FloorLamp", "answer": "B", "object_name": "Chair", "image_1": "train950/0/rgb_1.png", "image_2": "train950/0/rgb_0.png", "mask_image": "train950/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Fridge", "Chair", "Painting", "FloorLamp"]} diff --git a/train/train950/0/questions_distance.jsonl b/train/train950/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d23503739710500094dd5d84394e06ba6b1be4ac --- /dev/null +++ b/train/train950/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1959, "folder_dir": "train950/0", "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": "train950/0/rgb_0.png", "image_2": "train950/0/rgb_1.png"} +{"id": 1960, "folder_dir": "train950/0", "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": "train950/0/rgb_0.png", "image_2": "train950/0/rgb_1.png"} diff --git a/train/train950/0/rgb_0.png b/train/train950/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c1e33e17a5091e3db6b0051d08e99bf97e31287b --- /dev/null +++ b/train/train950/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73693276b823b659475fba1ea790925411087775fe95553a2773d76bd275d09d +size 429998 diff --git a/train/train950/0/rgb_0_mask_Chair|4|1|1.png b/train/train950/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9c52bed757d515fa3d79d6897a1fbb3eac31b036 --- /dev/null +++ b/train/train950/0/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/train950/0/rgb_0_mask_Fridge|2|1.png b/train/train950/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..118393b09b2fd35ed8d0acca47e92869ece9b25f --- /dev/null +++ b/train/train950/0/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/train950/0/rgb_1.png b/train/train950/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8634b6d73c9c34a127a48b5d041df57257f5c84a --- /dev/null +++ b/train/train950/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bb872eb1050e282e811f07589c90ae3b01ef4832a4b12bfd5ae8789e5a52b13 +size 449106 diff --git a/train/train950/0/rgb_1_mask_Chair|4|1|1.png b/train/train950/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..78be8fd88abbeb34f1f1ff5e8b368d7419f3b705 --- /dev/null +++ b/train/train950/0/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/train950/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train950/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb1de62139aea942d042d70c06ce00b31cf1c666 --- /dev/null +++ b/train/train950/0/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/train950/0/rgb_1_mask_Fridge|2|1.png b/train/train950/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..48826be385df64dc54d0c0e41e7dae6d231c85da --- /dev/null +++ b/train/train950/0/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/train950/0/semantic_0.png b/train/train950/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train950/0/semantic_0.png differ diff --git a/train/train950/0/semantic_1.png b/train/train950/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train950/0/semantic_1.png differ diff --git a/train/train950/1/0.json b/train/train950/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0f7e01275d6f0702f4c20831d6ce9aa1c0b83870 --- /dev/null +++ b/train/train950/1/0.json @@ -0,0 +1,3459 @@ +{ + "object": [ + { + "objectId": "Book|surface|5|49", + "object_info": { + "name": "Book|surface|5|49", + "position": { + "x": 0.40522468090057373, + "y": 0.3342370092868805, + "z": 10.96490478515625 + }, + "rotation": { + "x": 0.0038871746510267258, + "y": 109.94108581542969, + "z": -0.0029898264911025763 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 4.382443904876709, + "objectType": "Book", + "objectId": "Book|surface|5|49", + "assetId": "Book_6", + "parentReceptacles": [ + "Chair|5|1|4", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5412553548812866, + 0.37084877490997314, + 11.074289321899414 + ], + [ + 0.5412553548812866, + 0.37084877490997314, + 10.852178573608398 + ], + [ + 0.5412553548812866, + 0.33455443382263184, + 11.074289321899414 + ], + [ + 0.5412553548812866, + 0.33455443382263184, + 10.852178573608398 + ], + [ + 0.26798492670059204, + 0.37084877490997314, + 11.074289321899414 + ], + [ + 0.26798492670059204, + 0.37084877490997314, + 10.852178573608398 + ], + [ + 0.26798492670059204, + 0.33455443382263184, + 11.074289321899414 + ], + [ + 0.26798492670059204, + 0.33455443382263184, + 10.852178573608398 + ] + ], + "center": { + "x": 0.40462014079093933, + "y": 0.3527016043663025, + "z": 10.963233947753906 + }, + "size": { + "x": 0.2732704281806946, + "y": 0.03629434108734131, + "z": 0.22211074829101562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.48987722396850586, + 0.3345543444156647, + 10.852179527282715 + ], + [ + 0.5412965416908264, + 0.334562212228775, + 10.993906021118164 + ], + [ + 0.31940388679504395, + 0.3345782458782196, + 11.074410438537598 + ], + [ + 0.2679845690727234, + 0.33457037806510925, + 10.932682991027832 + ], + [ + 0.48987889289855957, + 0.3708249628543854, + 10.852176666259766 + ], + [ + 0.5412982106208801, + 0.3708328306674957, + 10.993903160095215 + ], + [ + 0.31940555572509766, + 0.3708488345146179, + 11.074407577514648 + ], + [ + 0.2679862380027771, + 0.37084096670150757, + 10.9326810836792 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|5|43", + "object_info": { + "name": "RemoteControl|surface|5|43", + "position": { + "x": 6.599200248718262, + "y": 0.6906992793083191, + "z": 10.465510368347168 + }, + "rotation": { + "x": 1.5195091691566631e-06, + "y": 180.0, + "z": -2.2601983800996095e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 5.0580363273620605, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|5|43", + "assetId": "Remote_3", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.633005619049072, + 0.7108678221702576, + 10.577335357666016 + ], + [ + 6.633005619049072, + 0.7108678221702576, + 10.35794448852539 + ], + [ + 6.633005619049072, + 0.6893462538719177, + 10.577335357666016 + ], + [ + 6.633005619049072, + 0.6893462538719177, + 10.35794448852539 + ], + [ + 6.565394878387451, + 0.7108678221702576, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.7108678221702576, + 10.35794448852539 + ], + [ + 6.565394878387451, + 0.6893462538719177, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.6893462538719177, + 10.35794448852539 + ] + ], + "center": { + "x": 6.599200248718262, + "y": 0.7001070380210876, + "z": 10.467639923095703 + }, + "size": { + "x": 0.0676107406616211, + "y": 0.021521568298339844, + "z": 0.219390869140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.565395355224609, + 0.6893462538719177, + 10.35794448852539 + ], + [ + 6.633005619049072, + 0.6893462538719177, + 10.35794448852539 + ], + [ + 6.633005142211914, + 0.6893462538719177, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.6893462538719177, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.7108678221702576, + 10.35794448852539 + ], + [ + 6.633005619049072, + 0.7108678221702576, + 10.35794448852539 + ], + [ + 6.633005142211914, + 0.7108678221702576, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.7108678221702576, + 10.577335357666016 + ] + ] + } + } + }, + { + "objectId": "ArmChair|5|3|0", + "object_info": { + "name": "ArmChair|5|3|0", + "position": { + "x": 2.965578556060791, + "y": 0.0004601776599884033, + "z": 10.191648483276367 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Bowl|surface|5|38" + ], + "distance": 4.166783332824707, + "objectType": "ArmChair", + "objectId": "ArmChair|5|3|0", + "assetId": "RoboTHOR_armchair_emmabo", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2753500938415527, + 0.7612464427947998, + 10.719324111938477 + ], + [ + 3.2753500938415527, + 0.7612464427947998, + 9.675790786743164 + ], + [ + 3.2753500938415527, + -2.625584602355957e-05, + 10.719324111938477 + ], + [ + 3.2753500938415527, + -2.625584602355957e-05, + 9.675790786743164 + ], + [ + 2.6565070152282715, + 0.7612464427947998, + 10.719324111938477 + ], + [ + 2.6565070152282715, + 0.7612464427947998, + 9.675790786743164 + ], + [ + 2.6565070152282715, + -2.625584602355957e-05, + 10.719324111938477 + ], + [ + 2.6565070152282715, + -2.625584602355957e-05, + 9.675790786743164 + ] + ], + "center": { + "x": 2.965928554534912, + "y": 0.38061007857322693, + "z": 10.19755744934082 + }, + "size": { + "x": 0.6188430786132812, + "y": 0.761272668838501, + "z": 1.0435333251953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.2753498554229736, + -2.5957822799682617e-05, + 10.71932315826416 + ], + [ + 2.6565070152282715, + -2.5957822799682617e-05, + 10.71932315826416 + ], + [ + 2.6565070152282715, + -2.5957822799682617e-05, + 9.675790786743164 + ], + [ + 3.2753498554229736, + -2.5957822799682617e-05, + 9.675790786743164 + ], + [ + 3.2753498554229736, + 0.7612463235855103, + 10.71932315826416 + ], + [ + 2.6565070152282715, + 0.7612463235855103, + 10.71932315826416 + ], + [ + 2.6565070152282715, + 0.7612463235855103, + 9.675790786743164 + ], + [ + 3.2753498554229736, + 0.7612463235855103, + 9.675790786743164 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|2", + "object_info": { + "name": "Chair|5|1|2", + "position": { + "x": 0.961380124092102, + "y": 0.0008544623851776123, + "z": 9.991575241088867 + }, + "rotation": { + "x": -0.0, + "y": 14.176345825195312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.917542457580566, + "objectType": "Chair", + "objectId": "Chair|5|1|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2984488010406494, + 0.8322232961654663, + 10.280342102050781 + ], + [ + 1.2984488010406494, + 0.8322232961654663, + 9.718208312988281 + ], + [ + 1.2984488010406494, + -2.905726432800293e-05, + 10.280342102050781 + ], + [ + 1.2984488010406494, + -2.905726432800293e-05, + 9.718208312988281 + ], + [ + 0.6480904817581177, + 0.8322232961654663, + 10.280342102050781 + ], + [ + 0.6480904817581177, + 0.8322232961654663, + 9.718208312988281 + ], + [ + 0.6480904817581177, + -2.905726432800293e-05, + 10.280342102050781 + ], + [ + 0.6480904817581177, + -2.905726432800293e-05, + 9.718208312988281 + ] + ], + "center": { + "x": 0.9732696413993835, + "y": 0.41609713435173035, + "z": 9.999275207519531 + }, + "size": { + "x": 0.6503583192825317, + "y": 0.8322523832321167, + "z": 0.5621337890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3232512474060059, + -2.8878450393676758e-05, + 10.147741317749023 + ], + [ + 0.7166947722434998, + -2.8878450393676758e-05, + 10.300957679748535 + ], + [ + 0.5975170135498047, + -2.8878450393676758e-05, + 9.829153060913086 + ], + [ + 1.2040736675262451, + -2.8878450393676758e-05, + 9.675936698913574 + ], + [ + 1.3232512474060059, + 0.8322229385375977, + 10.147741317749023 + ], + [ + 0.7166947722434998, + 0.8322229385375977, + 10.300957679748535 + ], + [ + 0.5975170135498047, + 0.8322229385375977, + 9.829153060913086 + ], + [ + 1.2040736675262451, + 0.8322229385375977, + 9.675936698913574 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|5|48", + "object_info": { + "name": "Plate|surface|5|48", + "position": { + "x": 1.0836284160614014, + "y": 0.7827525734901428, + "z": 10.599613189697266 + }, + "rotation": { + "x": 359.9555358886719, + "y": -2.4753649995545857e-05, + "z": 0.11018086969852448 + }, + "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": 4.246465682983398, + "objectType": "Plate", + "objectId": "Plate|surface|5|48", + "assetId": "Plate_22", + "parentReceptacles": [ + "DiningTable|5|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.17814302444458, + 0.8005896806716919, + 10.692628860473633 + ], + [ + 1.17814302444458, + 0.8005896806716919, + 10.500358581542969 + ], + [ + 1.17814302444458, + 0.7809063196182251, + 10.692628860473633 + ], + [ + 1.17814302444458, + 0.7809063196182251, + 10.500358581542969 + ], + [ + 0.9858689308166504, + 0.8005896806716919, + 10.692628860473633 + ], + [ + 0.9858689308166504, + 0.8005896806716919, + 10.500358581542969 + ], + [ + 0.9858689308166504, + 0.7809063196182251, + 10.692628860473633 + ], + [ + 0.9858689308166504, + 0.7809063196182251, + 10.500358581542969 + ] + ], + "center": { + "x": 1.0820059776306152, + "y": 0.7907480001449585, + "z": 10.5964937210083 + }, + "size": { + "x": 0.1922740936279297, + "y": 0.019683361053466797, + "z": 0.19227027893066406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.1781688928604126, + 0.7813186049461365, + 10.692639350891113 + ], + [ + 0.9858964085578918, + 0.7809488773345947, + 10.692639350891113 + ], + [ + 0.9858964681625366, + 0.7807996869087219, + 10.50036907196045 + ], + [ + 1.1781688928604126, + 0.7811694145202637, + 10.50036907196045 + ], + [ + 1.1781309843063354, + 0.8010100722312927, + 10.69262409210205 + ], + [ + 0.9858585000038147, + 0.800640344619751, + 10.69262409210205 + ], + [ + 0.9858586192131042, + 0.8004911541938782, + 10.500353813171387 + ], + [ + 1.178131103515625, + 0.8008608818054199, + 10.500353813171387 + ] + ] + } + } + }, + { + "objectId": "Painting|5|7", + "object_info": { + "name": "Painting|5|7", + "position": { + "x": 1.1157119274139404, + "y": 1.7014408111572266, + "z": 9.65599536895752 + }, + "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": 5.128427505493164, + "objectType": "Painting", + "objectId": "Painting|5|7", + "assetId": "Wall_Decor_Photo_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5505613088607788, + 1.9843509197235107, + 9.687740325927734 + ], + [ + 1.5505613088607788, + 1.9843509197235107, + 9.656000137329102 + ], + [ + 1.5505613088607788, + 1.4185307025909424, + 9.687740325927734 + ], + [ + 1.5505613088607788, + 1.4185307025909424, + 9.656000137329102 + ], + [ + 0.680862545967102, + 1.9843509197235107, + 9.687740325927734 + ], + [ + 0.680862545967102, + 1.9843509197235107, + 9.656000137329102 + ], + [ + 0.680862545967102, + 1.4185307025909424, + 9.687740325927734 + ], + [ + 0.680862545967102, + 1.4185307025909424, + 9.656000137329102 + ] + ], + "center": { + "x": 1.1157119274139404, + "y": 1.7014408111572266, + "z": 9.671870231628418 + }, + "size": { + "x": 0.8696987628936768, + "y": 0.5658202171325684, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|5|45", + "object_info": { + "name": "Watch|surface|5|45", + "position": { + "x": 5.9887237548828125, + "y": 0.6895553469657898, + "z": 9.786299705505371 + }, + "rotation": { + "x": 1.8510822057724, + "y": 89.95899963378906, + "z": 1.2746180295944214 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 5.241177082061768, + "objectType": "Watch", + "objectId": "Watch|surface|5|45", + "assetId": "Watch_1", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.011223793029785, + 0.7247291803359985, + 9.82562255859375 + ], + [ + 6.011223793029785, + 0.7247291803359985, + 9.746728897094727 + ], + [ + 6.011223793029785, + 0.6892071962356567, + 9.82562255859375 + ], + [ + 6.011223793029785, + 0.6892071962356567, + 9.746728897094727 + ], + [ + 5.962876319885254, + 0.7247291803359985, + 9.82562255859375 + ], + [ + 5.962876319885254, + 0.7247291803359985, + 9.746728897094727 + ], + [ + 5.962876319885254, + 0.6892071962356567, + 9.82562255859375 + ], + [ + 5.962876319885254, + 0.6892071962356567, + 9.746728897094727 + ] + ], + "center": { + "x": 5.9870500564575195, + "y": 0.7069681882858276, + "z": 9.786175727844238 + }, + "size": { + "x": 0.04834747314453125, + "y": 0.0355219841003418, + "z": 0.07889366149902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.011167049407959, + 0.6885040998458862, + 9.746588706970215 + ], + [ + 6.011054515838623, + 0.6867575645446777, + 9.825125694274902 + ], + [ + 5.9623003005981445, + 0.68833327293396, + 9.825091361999512 + ], + [ + 5.9624128341674805, + 0.6900798082351685, + 9.746553421020508 + ], + [ + 6.012351989746094, + 0.7251875400543213, + 9.747406005859375 + ], + [ + 6.012239456176758, + 0.7234410047531128, + 9.825942993164062 + ], + [ + 5.963485240936279, + 0.7250166535377502, + 9.825908660888672 + ], + [ + 5.963597774505615, + 0.7267631888389587, + 9.747370719909668 + ] + ] + } + } + }, + { + "objectId": "DiningTable|5|1|0", + "object_info": { + "name": "DiningTable|5|1|0", + "position": { + "x": 0.9604051113128662, + "y": -0.0031822919845581055, + "z": 11.042594909667969 + }, + "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": [ + "Plate|surface|5|48", + "Box|surface|5|37", + "Vase|surface|5|50", + "CellPhone|surface|5|39", + "Pencil|surface|5|51" + ], + "distance": 4.0431718826293945, + "objectType": "DiningTable", + "objectId": "DiningTable|5|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4604058265686035, + 0.7810473442077637, + 11.936676979064941 + ], + [ + 1.4604058265686035, + 0.7810473442077637, + 10.148512840270996 + ], + [ + 1.4604058265686035, + 3.516674041748047e-06, + 11.936676979064941 + ], + [ + 1.4604058265686035, + 3.516674041748047e-06, + 10.148512840270996 + ], + [ + 0.4604043960571289, + 0.7810473442077637, + 11.936676979064941 + ], + [ + 0.4604043960571289, + 0.7810473442077637, + 10.148512840270996 + ], + [ + 0.4604043960571289, + 3.516674041748047e-06, + 11.936676979064941 + ], + [ + 0.4604043960571289, + 3.516674041748047e-06, + 10.148512840270996 + ] + ], + "center": { + "x": 0.9604051113128662, + "y": 0.3905254304409027, + "z": 11.042594909667969 + }, + "size": { + "x": 1.0000014305114746, + "y": 0.7810438275337219, + "z": 1.7881641387939453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4604054689407349, + 3.5762786865234375e-06, + 10.148512840270996 + ], + [ + 1.460405707359314, + 3.5762786865234375e-06, + 11.936676979064941 + ], + [ + 0.46040475368499756, + 3.5762786865234375e-06, + 11.936676979064941 + ], + [ + 0.46040451526641846, + 3.5762786865234375e-06, + 10.148512840270996 + ], + [ + 1.4604054689407349, + 0.7810471653938293, + 10.148512840270996 + ], + [ + 1.460405707359314, + 0.7810471653938293, + 11.936676979064941 + ], + [ + 0.46040475368499756, + 0.7810471653938293, + 11.936676979064941 + ], + [ + 0.46040451526641846, + 0.7810471653938293, + 10.148512840270996 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|1", + "object_info": { + "name": "Chair|5|1|1", + "position": { + "x": 1.5571990013122559, + "y": 0.0008544623851776123, + "z": 11.042810440063477 + }, + "rotation": { + "x": 0.0, + "y": 270.35205078125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.736562728881836, + "objectType": "Chair", + "objectId": "Chair|5|1|1", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8046317100524902, + 0.8322232961654663, + 11.35507583618164 + ], + [ + 1.8046317100524902, + 0.8322232961654663, + 10.729564666748047 + ], + [ + 1.8046317100524902, + -2.8908252716064453e-05, + 11.35507583618164 + ], + [ + 1.8046317100524902, + -2.8908252716064453e-05, + 10.729564666748047 + ], + [ + 1.3163015842437744, + 0.8322232961654663, + 11.35507583618164 + ], + [ + 1.3163015842437744, + 0.8322232961654663, + 10.729564666748047 + ], + [ + 1.3163015842437744, + -2.8908252716064453e-05, + 11.35507583618164 + ], + [ + 1.3163015842437744, + -2.8908252716064453e-05, + 10.729564666748047 + ] + ], + "center": { + "x": 1.5604666471481323, + "y": 0.4160971939563751, + "z": 11.042320251464844 + }, + "size": { + "x": 0.4883301258087158, + "y": 0.8322522044181824, + "z": 0.6255111694335938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3190888166427612, + -2.8878450393676758e-05, + 11.356884002685547 + ], + [ + 1.3152449131011963, + -2.8878450393676758e-05, + 10.731287002563477 + ], + [ + 1.8018598556518555, + -2.8878450393676758e-05, + 10.728297233581543 + ], + [ + 1.80570387840271, + -2.8878450393676758e-05, + 11.353894233703613 + ], + [ + 1.3190888166427612, + 0.8322229385375977, + 11.356884002685547 + ], + [ + 1.3152449131011963, + 0.8322229385375977, + 10.731287002563477 + ], + [ + 1.8018598556518555, + 0.8322229385375977, + 10.728297233581543 + ], + [ + 1.80570387840271, + 0.8322229385375977, + 11.353894233703613 + ] + ] + } + } + }, + { + "objectId": "Television|5|0|2", + "object_info": { + "name": "Television|5|0|2", + "position": { + "x": 6.446499824523926, + "y": 1.1777304410934448, + "z": 10.194415092468262 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.171262741088867, + "objectType": "Television", + "objectId": "Television|5|0|2", + "assetId": "Television_13", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.977749824523926, + 1.440230369567871, + 10.304840087890625 + ], + [ + 6.977749824523926, + 1.440230369567871, + 9.943981170654297 + ], + [ + 6.977749824523926, + 0.6893467903137207, + 10.304840087890625 + ], + [ + 6.977749824523926, + 0.6893467903137207, + 9.943981170654297 + ], + [ + 5.915249824523926, + 1.440230369567871, + 10.304840087890625 + ], + [ + 5.915249824523926, + 1.440230369567871, + 9.943981170654297 + ], + [ + 5.915249824523926, + 0.6893467903137207, + 10.304840087890625 + ], + [ + 5.915249824523926, + 0.6893467903137207, + 9.943981170654297 + ] + ], + "center": { + "x": 6.446499824523926, + "y": 1.064788579940796, + "z": 10.124410629272461 + }, + "size": { + "x": 1.0625, + "y": 0.7508835792541504, + "z": 0.3608589172363281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.977749824523926, + 0.6893466711044312, + 10.304841041564941 + ], + [ + 5.915249824523926, + 0.6893466711044312, + 10.304841041564941 + ], + [ + 5.915249824523926, + 0.6893466711044312, + 9.943981170654297 + ], + [ + 6.977749824523926, + 0.6893466711044312, + 9.943981170654297 + ], + [ + 6.977749824523926, + 1.4402302503585815, + 10.304841041564941 + ], + [ + 5.915249824523926, + 1.4402302503585815, + 10.304841041564941 + ], + [ + 5.915249824523926, + 1.4402302503585815, + 9.943981170654297 + ], + [ + 6.977749824523926, + 1.4402302503585815, + 9.943981170654297 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|5|38", + "object_info": { + "name": "Bowl|surface|5|38", + "position": { + "x": 2.9655661582946777, + "y": 0.38729503750801086, + "z": 10.448226928710938 + }, + "rotation": { + "x": 342.82000732421875, + "y": 359.9537048339844, + "z": -0.005200118292123079 + }, + "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": 3.8468525409698486, + "objectType": "Bowl", + "objectId": "Bowl|surface|5|38", + "assetId": "Bowl_27", + "parentReceptacles": [ + "ArmChair|5|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.0458335876464844, + 0.4926355481147766, + 10.504886627197266 + ], + [ + 3.0458335876464844, + 0.4926355481147766, + 10.347434997558594 + ], + [ + 3.0458335876464844, + 0.372610867023468, + 10.504886627197266 + ], + [ + 3.0458335876464844, + 0.372610867023468, + 10.347434997558594 + ], + [ + 2.885352611541748, + 0.4926355481147766, + 10.504886627197266 + ], + [ + 2.885352611541748, + 0.4926355481147766, + 10.347434997558594 + ], + [ + 2.885352611541748, + 0.372610867023468, + 10.504886627197266 + ], + [ + 2.885352611541748, + 0.372610867023468, + 10.347434997558594 + ] + ], + "center": { + "x": 2.965593099594116, + "y": 0.4326232075691223, + "z": 10.42616081237793 + }, + "size": { + "x": 0.16048097610473633, + "y": 0.1200246810913086, + "z": 0.15745162963867188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0457212924957275, + 0.4098844528198242, + 10.52527141571045 + ], + [ + 2.885286331176758, + 0.4098983705043793, + 10.525137901306152 + ], + [ + 2.8854100704193115, + 0.3625100553035736, + 10.371861457824707 + ], + [ + 3.0458450317382812, + 0.36249613761901855, + 10.371994972229004 + ], + [ + 3.045750141143799, + 0.49369239807128906, + 10.499361038208008 + ], + [ + 2.885315179824829, + 0.4937063157558441, + 10.499226570129395 + ], + [ + 2.885438919067383, + 0.44631800055503845, + 10.34595012664795 + ], + [ + 3.0458738803863525, + 0.4463040828704834, + 10.346084594726562 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|4", + "object_info": { + "name": "Chair|5|1|4", + "position": { + "x": 0.36335310339927673, + "y": 0.0008544623851776123, + "z": 11.041316986083984 + }, + "rotation": { + "x": -0.0, + "y": 109.93963623046875, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|5|49" + ], + "distance": 4.408926963806152, + "objectType": "Chair", + "objectId": "Chair|5|1|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6704088449478149, + 0.8322232961654663, + 11.349227905273438 + ], + [ + 0.6704088449478149, + 0.8322232961654663, + 10.691987991333008 + ], + [ + 0.6704088449478149, + -2.8967857360839844e-05, + 11.349227905273438 + ], + [ + 0.6704088449478149, + -2.8967857360839844e-05, + 10.691987991333008 + ], + [ + 0.08380001783370972, + 0.8322232961654663, + 11.349227905273438 + ], + [ + 0.08380001783370972, + 0.8322232961654663, + 10.691987991333008 + ], + [ + 0.08380001783370972, + -2.8967857360839844e-05, + 11.349227905273438 + ], + [ + 0.08380001783370972, + -2.8967857360839844e-05, + 10.691987991333008 + ] + ], + "center": { + "x": 0.37710443139076233, + "y": 0.41609716415405273, + "z": 11.020607948303223 + }, + "size": { + "x": 0.5866088271141052, + "y": 0.8322522640228271, + "z": 0.6572399139404297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4823914170265198, + -2.8878450393676758e-05, + 10.665593147277832 + ], + [ + 0.6957427263259888, + -2.8878450393676758e-05, + 11.253697395324707 + ], + [ + 0.2382904440164566, + -2.8878450393676758e-05, + 11.41965103149414 + ], + [ + 0.024939149618148804, + -2.8878450393676758e-05, + 10.83154582977295 + ], + [ + 0.4823914170265198, + 0.8322229385375977, + 10.665593147277832 + ], + [ + 0.6957427263259888, + 0.8322229385375977, + 11.253697395324707 + ], + [ + 0.2382904440164566, + 0.8322229385375977, + 11.41965103149414 + ], + [ + 0.024939149618148804, + 0.8322229385375977, + 10.83154582977295 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|5|3|1", + "object_info": { + "name": "FloorLamp|5|3|1", + "position": { + "x": 3.7698938846588135, + "y": -0.0013020038604736328, + "z": 10.19776439666748 + }, + "rotation": { + "x": 0.02172813005745411, + "y": 269.86474609375, + "z": 0.005060222465544939 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.183903694152832, + "objectType": "FloorLamp", + "objectId": "FloorLamp|5|3|1", + "assetId": "Floor_Lamp_24", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.076558589935303, + 1.9928581714630127, + 10.481201171875 + ], + [ + 4.076558589935303, + 1.9928581714630127, + 9.914043426513672 + ], + [ + 4.076558589935303, + -3.337860107421875e-06, + 10.481201171875 + ], + [ + 4.076558589935303, + -3.337860107421875e-06, + 9.914043426513672 + ], + [ + 3.465336799621582, + 1.9928581714630127, + 10.481201171875 + ], + [ + 3.465336799621582, + 1.9928581714630127, + 9.914043426513672 + ], + [ + 3.465336799621582, + -3.337860107421875e-06, + 10.481201171875 + ], + [ + 3.465336799621582, + -3.337860107421875e-06, + 9.914043426513672 + ] + ], + "center": { + "x": 3.7709476947784424, + "y": 0.9964274168014526, + "z": 10.197622299194336 + }, + "size": { + "x": 0.6112217903137207, + "y": 1.9928615093231201, + "z": 0.5671577453613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.4653396606445312, + -6.3327606767416e-06, + 10.480626106262207 + ], + [ + 3.4666786193847656, + -5.6423014029860497e-05, + 9.913467407226562 + ], + [ + 4.077852249145508, + 0.00017535127699375153, + 9.914910316467285 + ], + [ + 4.076513290405273, + 0.00022544153034687042, + 10.48206901550293 + ], + [ + 3.4645843505859375, + 1.992717981338501, + 10.480448722839355 + ], + [ + 3.465923309326172, + 1.9926679134368896, + 9.913290023803711 + ], + [ + 4.077096939086914, + 1.9928996562957764, + 9.914732933044434 + ], + [ + 4.07575798034668, + 1.9929497241973877, + 10.481891632080078 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|3", + "object_info": { + "name": "Chair|5|1|3", + "position": { + "x": 0.9602224826812744, + "y": 0.0008544623851776123, + "z": 12.09346866607666 + }, + "rotation": { + "x": -0.0, + "y": 179.76864624023438, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.2716922760009766, + "objectType": "Chair", + "objectId": "Chair|5|1|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2730618715286255, + 0.8322234153747559, + 12.340633392333984 + ], + [ + 1.2730618715286255, + 0.8322234153747559, + 11.852867126464844 + ], + [ + 1.2730618715286255, + -2.8967857360839844e-05, + 12.340633392333984 + ], + [ + 1.2730618715286255, + -2.8967857360839844e-05, + 11.852867126464844 + ], + [ + 0.6474002599716187, + 0.8322234153747559, + 12.340633392333984 + ], + [ + 0.6474002599716187, + 0.8322234153747559, + 11.852867126464844 + ], + [ + 0.6474002599716187, + -2.8967857360839844e-05, + 12.340633392333984 + ], + [ + 0.6474002599716187, + -2.8967857360839844e-05, + 11.852867126464844 + ] + ], + "center": { + "x": 0.9602310657501221, + "y": 0.4160972237586975, + "z": 12.096750259399414 + }, + "size": { + "x": 0.6256616115570068, + "y": 0.8322523832321167, + "z": 0.4877662658691406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6485896110534668, + -2.8878450393676758e-05, + 11.8521728515625 + ], + [ + 1.2741929292678833, + -2.8878450393676758e-05, + 11.85469913482666 + ], + [ + 1.2722280025482178, + -2.8878450393676758e-05, + 12.34131908416748 + ], + [ + 0.6466245651245117, + -2.8878450393676758e-05, + 12.33879280090332 + ], + [ + 0.6485896110534668, + 0.8322229385375977, + 11.8521728515625 + ], + [ + 1.2741929292678833, + 0.8322229385375977, + 11.85469913482666 + ], + [ + 1.2722280025482178, + 0.8322229385375977, + 12.34131908416748 + ], + [ + 0.6466245651245117, + 0.8322229385375977, + 12.33879280090332 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|5|44", + "object_info": { + "name": "DeskLamp|surface|5|44", + "position": { + "x": 6.292898654937744, + "y": 0.6903784275054932, + "z": 10.351115226745605 + }, + "rotation": { + "x": 359.96990966796875, + "y": 269.0584411621094, + "z": 358.84381103515625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.059999942779541, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.950242042541504, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|5|44", + "assetId": "RoboTHOR_desk_lamp_ai2_v", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.358217239379883, + 1.1548073291778564, + 10.409772872924805 + ], + [ + 6.358217239379883, + 1.1548073291778564, + 10.298757553100586 + ], + [ + 6.358217239379883, + 0.6893091201782227, + 10.409772872924805 + ], + [ + 6.358217239379883, + 0.6893091201782227, + 10.298757553100586 + ], + [ + 5.931751251220703, + 1.1548073291778564, + 10.409772872924805 + ], + [ + 5.931751251220703, + 1.1548073291778564, + 10.298757553100586 + ], + [ + 5.931751251220703, + 0.6893091201782227, + 10.409772872924805 + ], + [ + 5.931751251220703, + 0.6893091201782227, + 10.298757553100586 + ] + ], + "center": { + "x": 6.144984245300293, + "y": 0.9220582246780396, + "z": 10.354265213012695 + }, + "size": { + "x": 0.4264659881591797, + "y": 0.4654982089996338, + "z": 0.11101531982421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.931473255157471, + 0.6895326375961304, + 10.396488189697266 + ], + [ + 5.933160781860352, + 0.6916035413742065, + 10.293890953063965 + ], + [ + 6.358171463012695, + 0.6913802027702332, + 10.300875663757324 + ], + [ + 6.356484413146973, + 0.689309298992157, + 10.403472900390625 + ], + [ + 5.931563377380371, + 1.1529788970947266, + 10.405843734741211 + ], + [ + 5.933250427246094, + 1.1550498008728027, + 10.30324649810791 + ], + [ + 6.358261585235596, + 1.1548265218734741, + 10.31023120880127 + ], + [ + 6.356574058532715, + 1.152755618095398, + 10.41282844543457 + ] + ] + } + } + }, + { + "objectId": "Candle|surface|5|41", + "object_info": { + "name": "Candle|surface|5|41", + "position": { + "x": 6.904602527618408, + "y": 0.6896924376487732, + "z": 10.239017486572266 + }, + "rotation": { + "x": -0.0023892272729426622, + "y": 90.00404357910156, + "z": 359.954833984375 + }, + "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": 5.430354595184326, + "objectType": "Candle", + "objectId": "Candle|surface|5|41", + "assetId": "Candle_3", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.925575256347656, + 0.8156051635742188, + 10.259990692138672 + ], + [ + 6.925575256347656, + 0.8156051635742188, + 10.218040466308594 + ], + [ + 6.925575256347656, + 0.6893389225006104, + 10.259990692138672 + ], + [ + 6.925575256347656, + 0.6893389225006104, + 10.218040466308594 + ], + [ + 6.88362979888916, + 0.8156051635742188, + 10.259990692138672 + ], + [ + 6.88362979888916, + 0.8156051635742188, + 10.218040466308594 + ], + [ + 6.88362979888916, + 0.6893389225006104, + 10.259990692138672 + ], + [ + 6.88362979888916, + 0.6893389225006104, + 10.218040466308594 + ] + ], + "center": { + "x": 6.904602527618408, + "y": 0.7524720430374146, + "z": 10.239015579223633 + }, + "size": { + "x": 0.041945457458496094, + "y": 0.1262662410736084, + "z": 0.041950225830078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.925573348999023, + 0.6893401145935059, + 10.21804428100586 + ], + [ + 6.925576210021973, + 0.6893731951713562, + 10.259988784790039 + ], + [ + 6.883631706237793, + 0.6893714070320129, + 10.259991645812988 + ], + [ + 6.883628845214844, + 0.6893383264541626, + 10.218047142028809 + ], + [ + 6.925568103790283, + 0.8155890703201294, + 10.217945098876953 + ], + [ + 6.925570964813232, + 0.815622091293335, + 10.259888648986816 + ], + [ + 6.883626461029053, + 0.8156203627586365, + 10.259891510009766 + ], + [ + 6.8836236000061035, + 0.8155872821807861, + 10.217947959899902 + ] + ] + } + } + }, + { + "objectId": "DogBed|5|4", + "object_info": { + "name": "DogBed|5|4", + "position": { + "x": 3.142756938934326, + "y": 0.005232550203800201, + "z": 12.344405174255371 + }, + "rotation": { + "x": 2.0365874661365524e-05, + "y": 270.00006103515625, + "z": -0.0002229101664852351 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.1083621978759766, + "objectType": "DogBed", + "objectId": "DogBed|5|4", + "assetId": "Dog_Bed_1_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7314629554748535, + 0.1752452552318573, + 12.932085037231445 + ], + [ + 3.7314629554748535, + 0.1752452552318573, + 11.755699157714844 + ], + [ + 3.7314629554748535, + 1.008063554763794e-05, + 12.932085037231445 + ], + [ + 3.7314629554748535, + 1.008063554763794e-05, + 11.755699157714844 + ], + [ + 2.555077075958252, + 0.1752452552318573, + 12.932085037231445 + ], + [ + 2.555077075958252, + 0.1752452552318573, + 11.755699157714844 + ], + [ + 2.555077075958252, + 1.008063554763794e-05, + 12.932085037231445 + ], + [ + 2.555077075958252, + 1.008063554763794e-05, + 11.755699157714844 + ] + ], + "center": { + "x": 3.1432700157165527, + "y": 0.08762767165899277, + "z": 12.343892097473145 + }, + "size": { + "x": 1.1763858795166016, + "y": 0.17523518204689026, + "z": 1.1763858795166016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.555075168609619, + 8.486676961183548e-06, + 12.932087898254395 + ], + [ + 2.5550739765167236, + 1.3063661754131317e-05, + 11.755697250366211 + ], + [ + 3.73146390914917, + 1.3481825590133667e-05, + 11.755695343017578 + ], + [ + 3.7314653396606445, + 8.904840797185898e-06, + 12.932085990905762 + ], + [ + 2.555075168609619, + 0.175241619348526, + 12.932088851928711 + ], + [ + 2.5550737380981445, + 0.17524617910385132, + 11.755697250366211 + ], + [ + 3.73146390914917, + 0.17524659633636475, + 11.755696296691895 + ], + [ + 3.7314653396606445, + 0.17524203658103943, + 12.932086944580078 + ] + ] + } + } + }, + { + "objectId": "Sofa|5|0|1", + "object_info": { + "name": "Sofa|5|0|1", + "position": { + "x": 6.446499824523926, + "y": 0.004032701253890991, + "z": 13.179540634155273 + }, + "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|5|47", + "CellPhone|surface|5|46", + "Pencil|surface|5|36" + ], + "distance": 3.4882724285125732, + "objectType": "Sofa", + "objectId": "Sofa|5|0|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.696000099182129, + 0.904558539390564, + 13.580131530761719 + ], + [ + 7.696000099182129, + 0.904558539390564, + 12.782821655273438 + ], + [ + 7.696000099182129, + -2.205371856689453e-06, + 13.580131530761719 + ], + [ + 7.696000099182129, + -2.205371856689453e-06, + 12.782821655273438 + ], + [ + 5.196999549865723, + 0.904558539390564, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 12.782821655273438 + ], + [ + 5.196999549865723, + -2.205371856689453e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + -2.205371856689453e-06, + 12.782821655273438 + ] + ], + "center": { + "x": 6.446499824523926, + "y": 0.45227816700935364, + "z": 13.181476593017578 + }, + "size": { + "x": 2.4990005493164062, + "y": 0.9045607447624207, + "z": 0.7973098754882812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.196999549865723, + -2.2351741790771484e-06, + 12.782820701599121 + ], + [ + 7.696000099182129, + -2.2351741790771484e-06, + 12.782820701599121 + ], + [ + 7.696000099182129, + -2.2351741790771484e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + -2.2351741790771484e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 12.782820701599121 + ], + [ + 7.696000099182129, + 0.904558539390564, + 12.782820701599121 + ], + [ + 7.696000099182129, + 0.904558539390564, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 13.580131530761719 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|5|50", + "object_info": { + "name": "Vase|surface|5|50", + "position": { + "x": 1.0836564302444458, + "y": 0.781941831111908, + "z": 11.485566139221191 + }, + "rotation": { + "x": -0.0004907511174678802, + "y": 0.00023223344760481268, + "z": -0.0016346541233360767 + }, + "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": 3.5141592025756836, + "objectType": "Vase", + "objectId": "Vase|surface|5|50", + "assetId": "Vase_Tall_4", + "parentReceptacles": [ + "DiningTable|5|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1712262630462646, + 1.0757306814193726, + 11.572885513305664 + ], + [ + 1.1712262630462646, + 1.0757306814193726, + 11.398244857788086 + ], + [ + 1.1712262630462646, + 0.7810460329055786, + 11.572885513305664 + ], + [ + 1.1712262630462646, + 0.7810460329055786, + 11.398244857788086 + ], + [ + 0.9960906505584717, + 1.0757306814193726, + 11.572885513305664 + ], + [ + 0.9960906505584717, + 1.0757306814193726, + 11.398244857788086 + ], + [ + 0.9960906505584717, + 0.7810460329055786, + 11.572885513305664 + ], + [ + 0.9960906505584717, + 0.7810460329055786, + 11.398244857788086 + ] + ], + "center": { + "x": 1.0836584568023682, + "y": 0.9283883571624756, + "z": 11.485565185546875 + }, + "size": { + "x": 0.17513561248779297, + "y": 0.29468464851379395, + "z": 0.17464065551757812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.17122483253479, + 0.7810447812080383, + 11.57288646697998 + ], + [ + 0.9960867762565613, + 0.7810497879981995, + 11.572887420654297 + ], + [ + 0.9960861206054688, + 0.7810482978820801, + 11.398245811462402 + ], + [ + 1.1712241172790527, + 0.781043291091919, + 11.398244857788086 + ], + [ + 1.1712331771850586, + 1.0757310390472412, + 11.572883605957031 + ], + [ + 0.9960951805114746, + 1.0757360458374023, + 11.572884559631348 + ], + [ + 0.9960944652557373, + 1.0757344961166382, + 11.39824390411377 + ], + [ + 1.1712324619293213, + 1.075729489326477, + 11.398242950439453 + ] + ] + } + } + }, + { + "objectId": "TVStand|5|0|0", + "object_info": { + "name": "TVStand|5|0|0", + "position": { + "x": 6.446499824523926, + "y": 3.3974647521972656e-05, + "z": 10.124410629272461 + }, + "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": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|surface|5|52", + "Watch|surface|5|45", + "Candle|surface|5|41", + "Television|5|0|2", + "TissueBox|surface|5|40", + "DeskLamp|surface|5|44", + "RemoteControl|surface|5|43" + ], + "distance": 5.296209812164307, + "objectType": "TVStand", + "objectId": "TVStand|5|0|0", + "assetId": "TV_Stand_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.0554704666137695, + 0.689346194267273, + 10.572821617126465 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.0, + 10.572821617126465 + ], + [ + 7.0554704666137695, + 0.0, + 9.675999641418457 + ], + [ + 5.837529182434082, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 9.675999641418457 + ], + [ + 5.837529182434082, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 9.675999641418457 + ] + ], + "center": { + "x": 6.446499824523926, + "y": 0.3446730971336365, + "z": 10.124410629272461 + }, + "size": { + "x": 1.2179412841796875, + "y": 0.689346194267273, + "z": 0.8968219757080078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.0554704666137695, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.0, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 9.675999641418457 + ] + ] + } + } + }, + { + "objectId": "Box|surface|5|37", + "object_info": { + "name": "Box|surface|5|37", + "position": { + "x": 1.206912875175476, + "y": 1.0602198839187622, + "z": 11.264086723327637 + }, + "rotation": { + "x": 0.00024621831835247576, + "y": 8.818566129775718e-05, + "z": 9.233342279912904e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 3.6214959621429443, + "objectType": "Box", + "objectId": "Box|surface|5|37", + "assetId": "Box_3", + "parentReceptacles": [ + "DiningTable|5|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4144961833953857, + 1.1031346321105957, + 11.309131622314453 + ], + [ + 1.4144961833953857, + 1.1031346321105957, + 10.962785720825195 + ], + [ + 1.4144961833953857, + 0.7810457944869995, + 11.309131622314453 + ], + [ + 1.4144961833953857, + 0.7810457944869995, + 10.962785720825195 + ], + [ + 1.00107741355896, + 1.1031346321105957, + 11.309131622314453 + ], + [ + 1.00107741355896, + 1.1031346321105957, + 10.962785720825195 + ], + [ + 1.00107741355896, + 0.7810457944869995, + 11.309131622314453 + ], + [ + 1.00107741355896, + 0.7810457944869995, + 10.962785720825195 + ] + ], + "center": { + "x": 1.2077867984771729, + "y": 0.9420902132987976, + "z": 11.135958671569824 + }, + "size": { + "x": 0.4134187698364258, + "y": 0.3220888376235962, + "z": 0.3463459014892578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4144978523254395, + 0.7810449600219727, + 11.309130668640137 + ], + [ + 1.0010769367218018, + 0.7810442447662354, + 11.309131622314453 + ], + [ + 1.0010764598846436, + 0.7810457348823547, + 10.962783813476562 + ], + [ + 1.4144973754882812, + 0.7810463905334473, + 10.962782859802246 + ], + [ + 1.4144973754882812, + 1.1031358242034912, + 11.30913257598877 + ], + [ + 1.0010764598846436, + 1.1031352281570435, + 11.309133529663086 + ], + [ + 1.0010758638381958, + 1.103136658668518, + 10.962784767150879 + ], + [ + 1.4144967794418335, + 1.1031373739242554, + 10.962783813476562 + ] + ] + } + } + }, + { + "objectId": "TissueBox|surface|5|40", + "object_info": { + "name": "TissueBox|surface|5|40", + "position": { + "x": 6.751902103424072, + "y": 0.6903894543647766, + "z": 10.352267265319824 + }, + "rotation": { + "x": 1.3912424037698656e-05, + "y": 89.99993896484375, + "z": -1.1443361472629476e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.3499999940395355, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.244043827056885, + "objectType": "TissueBox", + "objectId": "TissueBox|surface|5|40", + "assetId": "Tissue_Box_1", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.802659034729004, + 0.839377760887146, + 10.451678276062012 + ], + [ + 6.802659034729004, + 0.839377760887146, + 10.252856254577637 + ], + [ + 6.802659034729004, + 0.689346194267273, + 10.451678276062012 + ], + [ + 6.802659034729004, + 0.689346194267273, + 10.252856254577637 + ], + [ + 6.701145172119141, + 0.839377760887146, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.839377760887146, + 10.252856254577637 + ], + [ + 6.701145172119141, + 0.689346194267273, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.689346194267273, + 10.252856254577637 + ] + ], + "center": { + "x": 6.751902103424072, + "y": 0.7643619775772095, + "z": 10.352267265319824 + }, + "size": { + "x": 0.10151386260986328, + "y": 0.15003156661987305, + "z": 0.198822021484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.802659511566162, + 0.6893460154533386, + 10.252856254577637 + ], + [ + 6.802659034729004, + 0.6893460750579834, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.6893460750579834, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.6893460154533386, + 10.252856254577637 + ], + [ + 6.802659511566162, + 0.8393778800964355, + 10.252856254577637 + ], + [ + 6.802659511566162, + 0.8393778800964355, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.8393779397010803, + 10.451678276062012 + ], + [ + 6.701145648956299, + 0.8393778800964355, + 10.252856254577637 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.4000000953674316, + "y": 0.9009997844696045, + "z": 14.0 + }, + "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": 3.4000000953674316, + "y": 1.5759997367858887, + "z": 14.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DeskLamp|surface|5|44", + "TissueBox|surface|5|40", + "TVStand|5|0|0", + "Sofa|5|0|1", + "Candle|surface|5|41", + "Television|5|0|2", + "RemoteControl|surface|5|43" + ], + "different_object": [ + "DiningTable|5|1|0", + "Chair|5|1|1", + "FloorLamp|5|3|1", + "Plate|surface|5|48", + "Chair|5|1|2", + "DogBed|5|4", + "Book|surface|5|49", + "Box|surface|5|37", + "Vase|surface|5|50", + "Watch|surface|5|45", + "Bowl|surface|5|38", + "ArmChair|5|3|0", + "Chair|5|1|4", + "Painting|5|7", + "Chair|5|1|3" + ] +} \ No newline at end of file diff --git a/train/train950/1/0_depth_npy.npy b/train/train950/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ecb9b8f00de60c184e66ae302d938bcbe613ccc --- /dev/null +++ b/train/train950/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79a7904c5ddac3f1f0a90225878ce35e05cd8a55a3407285970e300a6a9251fe +size 3145856 diff --git a/train/train950/1/0_semantic_sensor_npy.npy b/train/train950/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..29218aa719654a31042771425b53b67dca223793 --- /dev/null +++ b/train/train950/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a6a589110d67edc092997504a668a5653b60d3cbda278f329cc27a8c65ce596 +size 2359424 diff --git a/train/train950/1/1.json b/train/train950/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..9241d01242f03a7e7a12b51fd39178bb43c1f8f8 --- /dev/null +++ b/train/train950/1/1.json @@ -0,0 +1,1837 @@ +{ + "object": [ + { + "objectId": "RemoteControl|surface|5|43", + "object_info": { + "name": "RemoteControl|surface|5|43", + "position": { + "x": 6.599200248718262, + "y": 0.6906992793083191, + "z": 10.465510368347168 + }, + "rotation": { + "x": 1.5195091691566631e-06, + "y": 180.0, + "z": -2.2601983800996095e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 5.0580363273620605, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|5|43", + "assetId": "Remote_3", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.633005619049072, + 0.7108678221702576, + 10.577335357666016 + ], + [ + 6.633005619049072, + 0.7108678221702576, + 10.35794448852539 + ], + [ + 6.633005619049072, + 0.6893462538719177, + 10.577335357666016 + ], + [ + 6.633005619049072, + 0.6893462538719177, + 10.35794448852539 + ], + [ + 6.565394878387451, + 0.7108678221702576, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.7108678221702576, + 10.35794448852539 + ], + [ + 6.565394878387451, + 0.6893462538719177, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.6893462538719177, + 10.35794448852539 + ] + ], + "center": { + "x": 6.599200248718262, + "y": 0.7001070380210876, + "z": 10.467639923095703 + }, + "size": { + "x": 0.0676107406616211, + "y": 0.021521568298339844, + "z": 0.219390869140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.565395355224609, + 0.6893462538719177, + 10.35794448852539 + ], + [ + 6.633005619049072, + 0.6893462538719177, + 10.35794448852539 + ], + [ + 6.633005142211914, + 0.6893462538719177, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.6893462538719177, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.7108678221702576, + 10.35794448852539 + ], + [ + 6.633005619049072, + 0.7108678221702576, + 10.35794448852539 + ], + [ + 6.633005142211914, + 0.7108678221702576, + 10.577335357666016 + ], + [ + 6.565394878387451, + 0.7108678221702576, + 10.577335357666016 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|5|46", + "object_info": { + "name": "CellPhone|surface|5|46", + "position": { + "x": 6.203896522521973, + "y": 0.41767793893814087, + "z": 13.066243171691895 + }, + "rotation": { + "x": 1.6294627130264416e-05, + "y": 90.0005111694336, + "z": -0.0005331223946996033 + }, + "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": 3.2187552452087402, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|5|46", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "Floor", + "Sofa|5|0|1" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.2739129066467285, + 0.42583203315734863, + 13.103066444396973 + ], + [ + 6.2739129066467285, + 0.42583203315734863, + 13.029419898986816 + ], + [ + 6.2739129066467285, + 0.41745150089263916, + 13.103066444396973 + ], + [ + 6.2739129066467285, + 0.41745150089263916, + 13.029419898986816 + ], + [ + 6.133050441741943, + 0.42583203315734863, + 13.103066444396973 + ], + [ + 6.133050441741943, + 0.42583203315734863, + 13.029419898986816 + ], + [ + 6.133050441741943, + 0.41745150089263916, + 13.103066444396973 + ], + [ + 6.133050441741943, + 0.41745150089263916, + 13.029419898986816 + ] + ], + "center": { + "x": 6.203481674194336, + "y": 0.4216417670249939, + "z": 13.066243171691895 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008380532264709473, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.27391242980957, + 0.41745153069496155, + 13.029419898986816 + ], + [ + 6.273913383483887, + 0.41745221614837646, + 13.103065490722656 + ], + [ + 6.133050918579102, + 0.41745224595069885, + 13.103066444396973 + ], + [ + 6.133050441741943, + 0.41745156049728394, + 13.029420852661133 + ], + [ + 6.27391242980957, + 0.42583128809928894, + 13.0294189453125 + ], + [ + 6.273913383483887, + 0.42583197355270386, + 13.103065490722656 + ], + [ + 6.133050918579102, + 0.42583203315734863, + 13.103066444396973 + ], + [ + 6.133050441741943, + 0.4258313477039337, + 13.029420852661133 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 5.001789093017578, + "y": -0.0005974769592285156, + "z": 15.442315101623535 + }, + "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": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.30288028717041, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_6", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.038468360900879, + 2.1068506240844727, + 16.35724639892578 + ], + [ + 6.038468360900879, + 2.1068506240844727, + 15.40134048461914 + ], + [ + 6.038468360900879, + 0.0, + 16.35724639892578 + ], + [ + 6.038468360900879, + 0.0, + 15.40134048461914 + ], + [ + 4.950187683105469, + 2.1068506240844727, + 16.35724639892578 + ], + [ + 4.950187683105469, + 2.1068506240844727, + 15.40134048461914 + ], + [ + 4.950187683105469, + 0.0, + 16.35724639892578 + ], + [ + 4.950187683105469, + 0.0, + 15.40134048461914 + ] + ], + "center": { + "x": 5.494328022003174, + "y": 1.0534253120422363, + "z": 15.879293441772461 + }, + "size": { + "x": 1.0882806777954102, + "y": 2.1068506240844727, + "z": 0.9559059143066406 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|5|0|2", + "object_info": { + "name": "Television|5|0|2", + "position": { + "x": 6.446499824523926, + "y": 1.1777304410934448, + "z": 10.194415092468262 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "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", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.171262741088867, + "objectType": "Television", + "objectId": "Television|5|0|2", + "assetId": "Television_13", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.977749824523926, + 1.440230369567871, + 10.304840087890625 + ], + [ + 6.977749824523926, + 1.440230369567871, + 9.943981170654297 + ], + [ + 6.977749824523926, + 0.6893467903137207, + 10.304840087890625 + ], + [ + 6.977749824523926, + 0.6893467903137207, + 9.943981170654297 + ], + [ + 5.915249824523926, + 1.440230369567871, + 10.304840087890625 + ], + [ + 5.915249824523926, + 1.440230369567871, + 9.943981170654297 + ], + [ + 5.915249824523926, + 0.6893467903137207, + 10.304840087890625 + ], + [ + 5.915249824523926, + 0.6893467903137207, + 9.943981170654297 + ] + ], + "center": { + "x": 6.446499824523926, + "y": 1.064788579940796, + "z": 10.124410629272461 + }, + "size": { + "x": 1.0625, + "y": 0.7508835792541504, + "z": 0.3608589172363281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.977749824523926, + 0.6893466711044312, + 10.304841041564941 + ], + [ + 5.915249824523926, + 0.6893466711044312, + 10.304841041564941 + ], + [ + 5.915249824523926, + 0.6893466711044312, + 9.943981170654297 + ], + [ + 6.977749824523926, + 0.6893466711044312, + 9.943981170654297 + ], + [ + 6.977749824523926, + 1.4402302503585815, + 10.304841041564941 + ], + [ + 5.915249824523926, + 1.4402302503585815, + 10.304841041564941 + ], + [ + 5.915249824523926, + 1.4402302503585815, + 9.943981170654297 + ], + [ + 6.977749824523926, + 1.4402302503585815, + 9.943981170654297 + ] + ] + } + } + }, + { + "objectId": "HousePlant|4|6|0", + "object_info": { + "name": "HousePlant|4|6|0", + "position": { + "x": 6.540063858032227, + "y": 0.004948139190673828, + "z": 15.822527885437012 + }, + "rotation": { + "x": -9.600737394066527e-05, + "y": 324.8233642578125, + "z": 0.0002501866256352514 + }, + "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": 3.755033016204834, + "objectType": "HousePlant", + "objectId": "HousePlant|4|6|0", + "assetId": "Houseplant_26", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.739164352416992, + 1.0970487594604492, + 16.0419921875 + ], + [ + 6.739164352416992, + 1.0970487594604492, + 15.61758804321289 + ], + [ + 6.739164352416992, + 4.172325134277344e-07, + 16.0419921875 + ], + [ + 6.739164352416992, + 4.172325134277344e-07, + 15.61758804321289 + ], + [ + 6.336555480957031, + 1.0970487594604492, + 16.0419921875 + ], + [ + 6.336555480957031, + 1.0970487594604492, + 15.61758804321289 + ], + [ + 6.336555480957031, + 4.172325134277344e-07, + 16.0419921875 + ], + [ + 6.336555480957031, + 4.172325134277344e-07, + 15.61758804321289 + ] + ], + "center": { + "x": 6.537859916687012, + "y": 0.5485246181488037, + "z": 15.829790115356445 + }, + "size": { + "x": 0.40260887145996094, + "y": 1.0970484018325806, + "z": 0.4244041442871094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.624522686004639, + 1.0826624929904938e-06, + 16.13665008544922 + ], + [ + 6.209620475769043, + -1.133885234594345e-06, + 15.844222068786621 + ], + [ + 6.475490093231201, + -1.9073486328125e-06, + 15.467000961303711 + ], + [ + 6.890392303466797, + 3.0919909477233887e-07, + 15.759428024291992 + ], + [ + 6.6245198249816895, + 1.097049593925476, + 16.13664436340332 + ], + [ + 6.209617614746094, + 1.0970474481582642, + 15.844217300415039 + ], + [ + 6.475487232208252, + 1.0970466136932373, + 15.466996192932129 + ], + [ + 6.890389442443848, + 1.0970487594604492, + 15.759424209594727 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|5|44", + "object_info": { + "name": "DeskLamp|surface|5|44", + "position": { + "x": 6.292898654937744, + "y": 0.6903784275054932, + "z": 10.351115226745605 + }, + "rotation": { + "x": 359.96990966796875, + "y": 269.0584411621094, + "z": 358.84381103515625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 2.059999942779541, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.950242042541504, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|5|44", + "assetId": "RoboTHOR_desk_lamp_ai2_v", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.358217239379883, + 1.1548073291778564, + 10.409772872924805 + ], + [ + 6.358217239379883, + 1.1548073291778564, + 10.298757553100586 + ], + [ + 6.358217239379883, + 0.6893091201782227, + 10.409772872924805 + ], + [ + 6.358217239379883, + 0.6893091201782227, + 10.298757553100586 + ], + [ + 5.931751251220703, + 1.1548073291778564, + 10.409772872924805 + ], + [ + 5.931751251220703, + 1.1548073291778564, + 10.298757553100586 + ], + [ + 5.931751251220703, + 0.6893091201782227, + 10.409772872924805 + ], + [ + 5.931751251220703, + 0.6893091201782227, + 10.298757553100586 + ] + ], + "center": { + "x": 6.144984245300293, + "y": 0.9220582246780396, + "z": 10.354265213012695 + }, + "size": { + "x": 0.4264659881591797, + "y": 0.4654982089996338, + "z": 0.11101531982421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.931473255157471, + 0.6895326375961304, + 10.396488189697266 + ], + [ + 5.933160781860352, + 0.6916035413742065, + 10.293890953063965 + ], + [ + 6.358171463012695, + 0.6913802027702332, + 10.300875663757324 + ], + [ + 6.356484413146973, + 0.689309298992157, + 10.403472900390625 + ], + [ + 5.931563377380371, + 1.1529788970947266, + 10.405843734741211 + ], + [ + 5.933250427246094, + 1.1550498008728027, + 10.30324649810791 + ], + [ + 6.358261585235596, + 1.1548265218734741, + 10.31023120880127 + ], + [ + 6.356574058532715, + 1.152755618095398, + 10.41282844543457 + ] + ] + } + } + }, + { + "objectId": "Book|surface|5|47", + "object_info": { + "name": "Book|surface|5|47", + "position": { + "x": 6.931707382202148, + "y": 0.4171965420246124, + "z": 13.000804901123047 + }, + "rotation": { + "x": 0.010639517568051815, + "y": 90.00022888183594, + "z": 0.04748697578907013 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 3.9178466796875, + "objectType": "Book", + "objectId": "Book|surface|5|47", + "assetId": "Book_19", + "parentReceptacles": [ + "Floor", + "Sofa|5|0|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.081756591796875, + 0.4579254388809204, + 13.116193771362305 + ], + [ + 7.081756591796875, + 0.4579254388809204, + 12.888784408569336 + ], + [ + 7.081756591796875, + 0.41736626625061035, + 13.116193771362305 + ], + [ + 7.081756591796875, + 0.41736626625061035, + 12.888784408569336 + ], + [ + 6.781665802001953, + 0.4579254388809204, + 13.116193771362305 + ], + [ + 6.781665802001953, + 0.4579254388809204, + 12.888784408569336 + ], + [ + 6.781665802001953, + 0.41736626625061035, + 13.116193771362305 + ], + [ + 6.781665802001953, + 0.41736626625061035, + 12.888784408569336 + ] + ], + "center": { + "x": 6.931711196899414, + "y": 0.4376458525657654, + "z": 13.00248908996582 + }, + "size": { + "x": 0.3000907897949219, + "y": 0.04055917263031006, + "z": 0.22740936279296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.081748008728027, + 0.41743677854537964, + 12.888785362243652 + ], + [ + 7.081748962402344, + 0.41724833846092224, + 13.11616039276123 + ], + [ + 6.7816667556762695, + 0.41730406880378723, + 13.116161346435547 + ], + [ + 6.781665802001953, + 0.41749250888824463, + 12.888786315917969 + ], + [ + 7.081755638122559, + 0.45789021253585815, + 12.888818740844727 + ], + [ + 7.081756591796875, + 0.45770177245140076, + 13.116193771362305 + ], + [ + 6.781674385070801, + 0.45775750279426575, + 13.116195678710938 + ], + [ + 6.781673431396484, + 0.45794594287872314, + 12.888819694519043 + ] + ] + } + } + }, + { + "objectId": "Candle|surface|5|41", + "object_info": { + "name": "Candle|surface|5|41", + "position": { + "x": 6.904602527618408, + "y": 0.6896924376487732, + "z": 10.239017486572266 + }, + "rotation": { + "x": -0.0023892272729426622, + "y": 90.00404357910156, + "z": 359.954833984375 + }, + "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": 5.430354595184326, + "objectType": "Candle", + "objectId": "Candle|surface|5|41", + "assetId": "Candle_3", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.925575256347656, + 0.8156051635742188, + 10.259990692138672 + ], + [ + 6.925575256347656, + 0.8156051635742188, + 10.218040466308594 + ], + [ + 6.925575256347656, + 0.6893389225006104, + 10.259990692138672 + ], + [ + 6.925575256347656, + 0.6893389225006104, + 10.218040466308594 + ], + [ + 6.88362979888916, + 0.8156051635742188, + 10.259990692138672 + ], + [ + 6.88362979888916, + 0.8156051635742188, + 10.218040466308594 + ], + [ + 6.88362979888916, + 0.6893389225006104, + 10.259990692138672 + ], + [ + 6.88362979888916, + 0.6893389225006104, + 10.218040466308594 + ] + ], + "center": { + "x": 6.904602527618408, + "y": 0.7524720430374146, + "z": 10.239015579223633 + }, + "size": { + "x": 0.041945457458496094, + "y": 0.1262662410736084, + "z": 0.041950225830078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.925573348999023, + 0.6893401145935059, + 10.21804428100586 + ], + [ + 6.925576210021973, + 0.6893731951713562, + 10.259988784790039 + ], + [ + 6.883631706237793, + 0.6893714070320129, + 10.259991645812988 + ], + [ + 6.883628845214844, + 0.6893383264541626, + 10.218047142028809 + ], + [ + 6.925568103790283, + 0.8155890703201294, + 10.217945098876953 + ], + [ + 6.925570964813232, + 0.815622091293335, + 10.259888648986816 + ], + [ + 6.883626461029053, + 0.8156203627586365, + 10.259891510009766 + ], + [ + 6.8836236000061035, + 0.8155872821807861, + 10.217947959899902 + ] + ] + } + } + }, + { + "objectId": "Sofa|5|0|1", + "object_info": { + "name": "Sofa|5|0|1", + "position": { + "x": 6.446499824523926, + "y": 0.004032701253890991, + "z": 13.179540634155273 + }, + "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|5|47", + "CellPhone|surface|5|46", + "Pencil|surface|5|36" + ], + "distance": 3.4882724285125732, + "objectType": "Sofa", + "objectId": "Sofa|5|0|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.696000099182129, + 0.904558539390564, + 13.580131530761719 + ], + [ + 7.696000099182129, + 0.904558539390564, + 12.782821655273438 + ], + [ + 7.696000099182129, + -2.205371856689453e-06, + 13.580131530761719 + ], + [ + 7.696000099182129, + -2.205371856689453e-06, + 12.782821655273438 + ], + [ + 5.196999549865723, + 0.904558539390564, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 12.782821655273438 + ], + [ + 5.196999549865723, + -2.205371856689453e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + -2.205371856689453e-06, + 12.782821655273438 + ] + ], + "center": { + "x": 6.446499824523926, + "y": 0.45227816700935364, + "z": 13.181476593017578 + }, + "size": { + "x": 2.4990005493164062, + "y": 0.9045607447624207, + "z": 0.7973098754882812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.196999549865723, + -2.2351741790771484e-06, + 12.782820701599121 + ], + [ + 7.696000099182129, + -2.2351741790771484e-06, + 12.782820701599121 + ], + [ + 7.696000099182129, + -2.2351741790771484e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + -2.2351741790771484e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 12.782820701599121 + ], + [ + 7.696000099182129, + 0.904558539390564, + 12.782820701599121 + ], + [ + 7.696000099182129, + 0.904558539390564, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 13.580131530761719 + ] + ] + } + } + }, + { + "objectId": "TVStand|5|0|0", + "object_info": { + "name": "TVStand|5|0|0", + "position": { + "x": 6.446499824523926, + "y": 3.3974647521972656e-05, + "z": 10.124410629272461 + }, + "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": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|surface|5|52", + "Watch|surface|5|45", + "Candle|surface|5|41", + "Television|5|0|2", + "TissueBox|surface|5|40", + "DeskLamp|surface|5|44", + "RemoteControl|surface|5|43" + ], + "distance": 5.296209812164307, + "objectType": "TVStand", + "objectId": "TVStand|5|0|0", + "assetId": "TV_Stand_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.0554704666137695, + 0.689346194267273, + 10.572821617126465 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.0, + 10.572821617126465 + ], + [ + 7.0554704666137695, + 0.0, + 9.675999641418457 + ], + [ + 5.837529182434082, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 9.675999641418457 + ], + [ + 5.837529182434082, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 9.675999641418457 + ] + ], + "center": { + "x": 6.446499824523926, + "y": 0.3446730971336365, + "z": 10.124410629272461 + }, + "size": { + "x": 1.2179412841796875, + "y": 0.689346194267273, + "z": 0.8968219757080078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.0554704666137695, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.0, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 9.675999641418457 + ] + ] + } + } + }, + { + "objectId": "Fridge|2|0", + "object_info": { + "name": "Fridge|2|0", + "position": { + "x": 9.227311134338379, + "y": 0.006452322006225586, + "z": 18.91647720336914 + }, + "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": [], + "distance": 7.635736465454102, + "objectType": "Fridge", + "objectId": "Fridge|2|0", + "assetId": "Fridge_24", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.626001358032227, + 1.7388057708740234, + 19.278003692626953 + ], + [ + 9.626001358032227, + 1.7388057708740234, + 18.534530639648438 + ], + [ + 9.626001358032227, + 0.0, + 19.278003692626953 + ], + [ + 9.626001358032227, + 0.0, + 18.534530639648438 + ], + [ + 8.82948112487793, + 1.7388057708740234, + 19.278003692626953 + ], + [ + 8.82948112487793, + 1.7388057708740234, + 18.534530639648438 + ], + [ + 8.82948112487793, + 0.0, + 19.278003692626953 + ], + [ + 8.82948112487793, + 0.0, + 18.534530639648438 + ] + ], + "center": { + "x": 9.227741241455078, + "y": 0.8694028854370117, + "z": 18.906267166137695 + }, + "size": { + "x": 0.7965202331542969, + "y": 1.7388057708740234, + "z": 0.7434730529785156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TissueBox|surface|5|40", + "object_info": { + "name": "TissueBox|surface|5|40", + "position": { + "x": 6.751902103424072, + "y": 0.6903894543647766, + "z": 10.352267265319824 + }, + "rotation": { + "x": 1.3912424037698656e-05, + "y": 89.99993896484375, + "z": -1.1443361472629476e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "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": 0.3499999940395355, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.244043827056885, + "objectType": "TissueBox", + "objectId": "TissueBox|surface|5|40", + "assetId": "Tissue_Box_1", + "parentReceptacles": [ + "Floor", + "TVStand|5|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.802659034729004, + 0.839377760887146, + 10.451678276062012 + ], + [ + 6.802659034729004, + 0.839377760887146, + 10.252856254577637 + ], + [ + 6.802659034729004, + 0.689346194267273, + 10.451678276062012 + ], + [ + 6.802659034729004, + 0.689346194267273, + 10.252856254577637 + ], + [ + 6.701145172119141, + 0.839377760887146, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.839377760887146, + 10.252856254577637 + ], + [ + 6.701145172119141, + 0.689346194267273, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.689346194267273, + 10.252856254577637 + ] + ], + "center": { + "x": 6.751902103424072, + "y": 0.7643619775772095, + "z": 10.352267265319824 + }, + "size": { + "x": 0.10151386260986328, + "y": 0.15003156661987305, + "z": 0.198822021484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.802659511566162, + 0.6893460154533386, + 10.252856254577637 + ], + [ + 6.802659034729004, + 0.6893460750579834, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.6893460750579834, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.6893460154533386, + 10.252856254577637 + ], + [ + 6.802659511566162, + 0.8393778800964355, + 10.252856254577637 + ], + [ + 6.802659511566162, + 0.8393778800964355, + 10.451678276062012 + ], + [ + 6.701145172119141, + 0.8393779397010803, + 10.451678276062012 + ], + [ + 6.701145648956299, + 0.8393778800964355, + 10.252856254577637 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.4000000953674316, + "y": 0.9009997844696045, + "z": 14.0 + }, + "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": 3.4000000953674316, + "y": 1.5759997367858887, + "z": 14.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DeskLamp|surface|5|44", + "TissueBox|surface|5|40", + "TVStand|5|0|0", + "Sofa|5|0|1", + "Candle|surface|5|41", + "Television|5|0|2", + "RemoteControl|surface|5|43" + ], + "different_object": [ + "HousePlant|4|6|0", + "Fridge|2|0", + "door|4|5", + "Book|surface|5|47", + "CellPhone|surface|5|46" + ] +} \ No newline at end of file diff --git a/train/train950/1/1_depth_npy.npy b/train/train950/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2ad9acb9464ed88971f27bcad14636d262b502e4 --- /dev/null +++ b/train/train950/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:778ec9d9e3207951576e97f3cc933f51371b0156594bb503983fb77f290bfe58 +size 3145856 diff --git a/train/train950/1/1_semantic_sensor_npy.npy b/train/train950/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..77157cc8a17fa45b3e164a2fd6c6e67de5261365 --- /dev/null +++ b/train/train950/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf757c282782d37f7c5631202156a1f9f7550d4c0b2c08b2335847c0d6cf6ac8 +size 2359424 diff --git a/train/train950/1/depth_0.png b/train/train950/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a3cd0547b39fdc0f5f771c82f481eb501e15a993 Binary files /dev/null and b/train/train950/1/depth_0.png differ diff --git a/train/train950/1/depth_1.png b/train/train950/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..46d04154e21d3cf39b08a0991ec5c69c1f2898e7 Binary files /dev/null and b/train/train950/1/depth_1.png differ diff --git a/train/train950/1/mask_questions.jsonl b/train/train950/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train950/1/rgb_0.png b/train/train950/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d682ba55a47badfd448b1fd19bd5d8d3d6f4e044 --- /dev/null +++ b/train/train950/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7e8b8c83016f219e69aea58c9e395adf28b17533bd10004138f70211b3aa6dc +size 718934 diff --git a/train/train950/1/rgb_1.png b/train/train950/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bfc2a82a47cc3a52c2ae370a104c986d6c6e8552 --- /dev/null +++ b/train/train950/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76cd902a892bec7a5a824c2893fd6a15ff7f5409fb5a1332b66aeadb3a3c9166 +size 600370 diff --git a/train/train950/1/semantic_0.png b/train/train950/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5330510ab2bc697decb23053459c70a62d040ead Binary files /dev/null and b/train/train950/1/semantic_0.png differ diff --git a/train/train950/1/semantic_1.png b/train/train950/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..916e6dcce74f5d17e7a5c27eee2dae34defb2e41 Binary files /dev/null and b/train/train950/1/semantic_1.png differ diff --git a/train/train950/2/0.json b/train/train950/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..4ccc7411772c4bf81eaefdc63d9549d45d8ad46b --- /dev/null +++ b/train/train950/2/0.json @@ -0,0 +1,2401 @@ +{ + "object": [ + { + "objectId": "Book|surface|5|49", + "object_info": { + "name": "Book|surface|5|49", + "position": { + "x": 0.40522468090057373, + "y": 0.3342370092868805, + "z": 10.96490478515625 + }, + "rotation": { + "x": 0.0038871746510267258, + "y": 109.94108581542969, + "z": -0.0029898264911025763 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 4.382443904876709, + "objectType": "Book", + "objectId": "Book|surface|5|49", + "assetId": "Book_6", + "parentReceptacles": [ + "Chair|5|1|4", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5412553548812866, + 0.37084877490997314, + 11.074289321899414 + ], + [ + 0.5412553548812866, + 0.37084877490997314, + 10.852178573608398 + ], + [ + 0.5412553548812866, + 0.33455443382263184, + 11.074289321899414 + ], + [ + 0.5412553548812866, + 0.33455443382263184, + 10.852178573608398 + ], + [ + 0.26798492670059204, + 0.37084877490997314, + 11.074289321899414 + ], + [ + 0.26798492670059204, + 0.37084877490997314, + 10.852178573608398 + ], + [ + 0.26798492670059204, + 0.33455443382263184, + 11.074289321899414 + ], + [ + 0.26798492670059204, + 0.33455443382263184, + 10.852178573608398 + ] + ], + "center": { + "x": 0.40462014079093933, + "y": 0.3527016043663025, + "z": 10.963233947753906 + }, + "size": { + "x": 0.2732704281806946, + "y": 0.03629434108734131, + "z": 0.22211074829101562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.48987722396850586, + 0.3345543444156647, + 10.852179527282715 + ], + [ + 0.5412965416908264, + 0.334562212228775, + 10.993906021118164 + ], + [ + 0.31940388679504395, + 0.3345782458782196, + 11.074410438537598 + ], + [ + 0.2679845690727234, + 0.33457037806510925, + 10.932682991027832 + ], + [ + 0.48987889289855957, + 0.3708249628543854, + 10.852176666259766 + ], + [ + 0.5412982106208801, + 0.3708328306674957, + 10.993903160095215 + ], + [ + 0.31940555572509766, + 0.3708488345146179, + 11.074407577514648 + ], + [ + 0.2679862380027771, + 0.37084096670150757, + 10.9326810836792 + ] + ] + } + } + }, + { + "objectId": "ArmChair|5|3|0", + "object_info": { + "name": "ArmChair|5|3|0", + "position": { + "x": 2.965578556060791, + "y": 0.0004601776599884033, + "z": 10.191648483276367 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Bowl|surface|5|38" + ], + "distance": 4.166783332824707, + "objectType": "ArmChair", + "objectId": "ArmChair|5|3|0", + "assetId": "RoboTHOR_armchair_emmabo", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2753500938415527, + 0.7612464427947998, + 10.719324111938477 + ], + [ + 3.2753500938415527, + 0.7612464427947998, + 9.675790786743164 + ], + [ + 3.2753500938415527, + -2.625584602355957e-05, + 10.719324111938477 + ], + [ + 3.2753500938415527, + -2.625584602355957e-05, + 9.675790786743164 + ], + [ + 2.6565070152282715, + 0.7612464427947998, + 10.719324111938477 + ], + [ + 2.6565070152282715, + 0.7612464427947998, + 9.675790786743164 + ], + [ + 2.6565070152282715, + -2.625584602355957e-05, + 10.719324111938477 + ], + [ + 2.6565070152282715, + -2.625584602355957e-05, + 9.675790786743164 + ] + ], + "center": { + "x": 2.965928554534912, + "y": 0.38061007857322693, + "z": 10.19755744934082 + }, + "size": { + "x": 0.6188430786132812, + "y": 0.761272668838501, + "z": 1.0435333251953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.2753498554229736, + -2.5957822799682617e-05, + 10.71932315826416 + ], + [ + 2.6565070152282715, + -2.5957822799682617e-05, + 10.71932315826416 + ], + [ + 2.6565070152282715, + -2.5957822799682617e-05, + 9.675790786743164 + ], + [ + 3.2753498554229736, + -2.5957822799682617e-05, + 9.675790786743164 + ], + [ + 3.2753498554229736, + 0.7612463235855103, + 10.71932315826416 + ], + [ + 2.6565070152282715, + 0.7612463235855103, + 10.71932315826416 + ], + [ + 2.6565070152282715, + 0.7612463235855103, + 9.675790786743164 + ], + [ + 3.2753498554229736, + 0.7612463235855103, + 9.675790786743164 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|2", + "object_info": { + "name": "Chair|5|1|2", + "position": { + "x": 0.961380124092102, + "y": 0.0008544623851776123, + "z": 9.991575241088867 + }, + "rotation": { + "x": -0.0, + "y": 14.176345825195312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.917542457580566, + "objectType": "Chair", + "objectId": "Chair|5|1|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2984488010406494, + 0.8322232961654663, + 10.280342102050781 + ], + [ + 1.2984488010406494, + 0.8322232961654663, + 9.718208312988281 + ], + [ + 1.2984488010406494, + -2.905726432800293e-05, + 10.280342102050781 + ], + [ + 1.2984488010406494, + -2.905726432800293e-05, + 9.718208312988281 + ], + [ + 0.6480904817581177, + 0.8322232961654663, + 10.280342102050781 + ], + [ + 0.6480904817581177, + 0.8322232961654663, + 9.718208312988281 + ], + [ + 0.6480904817581177, + -2.905726432800293e-05, + 10.280342102050781 + ], + [ + 0.6480904817581177, + -2.905726432800293e-05, + 9.718208312988281 + ] + ], + "center": { + "x": 0.9732696413993835, + "y": 0.41609713435173035, + "z": 9.999275207519531 + }, + "size": { + "x": 0.6503583192825317, + "y": 0.8322523832321167, + "z": 0.5621337890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3232512474060059, + -2.8878450393676758e-05, + 10.147741317749023 + ], + [ + 0.7166947722434998, + -2.8878450393676758e-05, + 10.300957679748535 + ], + [ + 0.5975170135498047, + -2.8878450393676758e-05, + 9.829153060913086 + ], + [ + 1.2040736675262451, + -2.8878450393676758e-05, + 9.675936698913574 + ], + [ + 1.3232512474060059, + 0.8322229385375977, + 10.147741317749023 + ], + [ + 0.7166947722434998, + 0.8322229385375977, + 10.300957679748535 + ], + [ + 0.5975170135498047, + 0.8322229385375977, + 9.829153060913086 + ], + [ + 1.2040736675262451, + 0.8322229385375977, + 9.675936698913574 + ] + ] + } + } + }, + { + "objectId": "DiningTable|5|1|0", + "object_info": { + "name": "DiningTable|5|1|0", + "position": { + "x": 0.9604051113128662, + "y": -0.0031822919845581055, + "z": 11.042594909667969 + }, + "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": [ + "Plate|surface|5|48", + "Box|surface|5|37", + "Vase|surface|5|50", + "CellPhone|surface|5|39", + "Pencil|surface|5|51" + ], + "distance": 4.0431718826293945, + "objectType": "DiningTable", + "objectId": "DiningTable|5|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4604058265686035, + 0.7810473442077637, + 11.936676979064941 + ], + [ + 1.4604058265686035, + 0.7810473442077637, + 10.148512840270996 + ], + [ + 1.4604058265686035, + 3.516674041748047e-06, + 11.936676979064941 + ], + [ + 1.4604058265686035, + 3.516674041748047e-06, + 10.148512840270996 + ], + [ + 0.4604043960571289, + 0.7810473442077637, + 11.936676979064941 + ], + [ + 0.4604043960571289, + 0.7810473442077637, + 10.148512840270996 + ], + [ + 0.4604043960571289, + 3.516674041748047e-06, + 11.936676979064941 + ], + [ + 0.4604043960571289, + 3.516674041748047e-06, + 10.148512840270996 + ] + ], + "center": { + "x": 0.9604051113128662, + "y": 0.3905254304409027, + "z": 11.042594909667969 + }, + "size": { + "x": 1.0000014305114746, + "y": 0.7810438275337219, + "z": 1.7881641387939453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4604054689407349, + 3.5762786865234375e-06, + 10.148512840270996 + ], + [ + 1.460405707359314, + 3.5762786865234375e-06, + 11.936676979064941 + ], + [ + 0.46040475368499756, + 3.5762786865234375e-06, + 11.936676979064941 + ], + [ + 0.46040451526641846, + 3.5762786865234375e-06, + 10.148512840270996 + ], + [ + 1.4604054689407349, + 0.7810471653938293, + 10.148512840270996 + ], + [ + 1.460405707359314, + 0.7810471653938293, + 11.936676979064941 + ], + [ + 0.46040475368499756, + 0.7810471653938293, + 11.936676979064941 + ], + [ + 0.46040451526641846, + 0.7810471653938293, + 10.148512840270996 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|1", + "object_info": { + "name": "Chair|5|1|1", + "position": { + "x": 1.5571990013122559, + "y": 0.0008544623851776123, + "z": 11.042810440063477 + }, + "rotation": { + "x": 0.0, + "y": 270.35205078125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.736562728881836, + "objectType": "Chair", + "objectId": "Chair|5|1|1", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8046317100524902, + 0.8322232961654663, + 11.35507583618164 + ], + [ + 1.8046317100524902, + 0.8322232961654663, + 10.729564666748047 + ], + [ + 1.8046317100524902, + -2.8908252716064453e-05, + 11.35507583618164 + ], + [ + 1.8046317100524902, + -2.8908252716064453e-05, + 10.729564666748047 + ], + [ + 1.3163015842437744, + 0.8322232961654663, + 11.35507583618164 + ], + [ + 1.3163015842437744, + 0.8322232961654663, + 10.729564666748047 + ], + [ + 1.3163015842437744, + -2.8908252716064453e-05, + 11.35507583618164 + ], + [ + 1.3163015842437744, + -2.8908252716064453e-05, + 10.729564666748047 + ] + ], + "center": { + "x": 1.5604666471481323, + "y": 0.4160971939563751, + "z": 11.042320251464844 + }, + "size": { + "x": 0.4883301258087158, + "y": 0.8322522044181824, + "z": 0.6255111694335938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3190888166427612, + -2.8878450393676758e-05, + 11.356884002685547 + ], + [ + 1.3152449131011963, + -2.8878450393676758e-05, + 10.731287002563477 + ], + [ + 1.8018598556518555, + -2.8878450393676758e-05, + 10.728297233581543 + ], + [ + 1.80570387840271, + -2.8878450393676758e-05, + 11.353894233703613 + ], + [ + 1.3190888166427612, + 0.8322229385375977, + 11.356884002685547 + ], + [ + 1.3152449131011963, + 0.8322229385375977, + 10.731287002563477 + ], + [ + 1.8018598556518555, + 0.8322229385375977, + 10.728297233581543 + ], + [ + 1.80570387840271, + 0.8322229385375977, + 11.353894233703613 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|5|38", + "object_info": { + "name": "Bowl|surface|5|38", + "position": { + "x": 2.9655661582946777, + "y": 0.38729503750801086, + "z": 10.448226928710938 + }, + "rotation": { + "x": 342.82000732421875, + "y": 359.9537048339844, + "z": -0.005200118292123079 + }, + "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": 3.8468525409698486, + "objectType": "Bowl", + "objectId": "Bowl|surface|5|38", + "assetId": "Bowl_27", + "parentReceptacles": [ + "ArmChair|5|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.0458335876464844, + 0.4926355481147766, + 10.504886627197266 + ], + [ + 3.0458335876464844, + 0.4926355481147766, + 10.347434997558594 + ], + [ + 3.0458335876464844, + 0.372610867023468, + 10.504886627197266 + ], + [ + 3.0458335876464844, + 0.372610867023468, + 10.347434997558594 + ], + [ + 2.885352611541748, + 0.4926355481147766, + 10.504886627197266 + ], + [ + 2.885352611541748, + 0.4926355481147766, + 10.347434997558594 + ], + [ + 2.885352611541748, + 0.372610867023468, + 10.504886627197266 + ], + [ + 2.885352611541748, + 0.372610867023468, + 10.347434997558594 + ] + ], + "center": { + "x": 2.965593099594116, + "y": 0.4326232075691223, + "z": 10.42616081237793 + }, + "size": { + "x": 0.16048097610473633, + "y": 0.1200246810913086, + "z": 0.15745162963867188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0457212924957275, + 0.4098844528198242, + 10.52527141571045 + ], + [ + 2.885286331176758, + 0.4098983705043793, + 10.525137901306152 + ], + [ + 2.8854100704193115, + 0.3625100553035736, + 10.371861457824707 + ], + [ + 3.0458450317382812, + 0.36249613761901855, + 10.371994972229004 + ], + [ + 3.045750141143799, + 0.49369239807128906, + 10.499361038208008 + ], + [ + 2.885315179824829, + 0.4937063157558441, + 10.499226570129395 + ], + [ + 2.885438919067383, + 0.44631800055503845, + 10.34595012664795 + ], + [ + 3.0458738803863525, + 0.4463040828704834, + 10.346084594726562 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|4", + "object_info": { + "name": "Chair|5|1|4", + "position": { + "x": 0.36335310339927673, + "y": 0.0008544623851776123, + "z": 11.041316986083984 + }, + "rotation": { + "x": -0.0, + "y": 109.93963623046875, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|5|49" + ], + "distance": 4.408926963806152, + "objectType": "Chair", + "objectId": "Chair|5|1|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6704088449478149, + 0.8322232961654663, + 11.349227905273438 + ], + [ + 0.6704088449478149, + 0.8322232961654663, + 10.691987991333008 + ], + [ + 0.6704088449478149, + -2.8967857360839844e-05, + 11.349227905273438 + ], + [ + 0.6704088449478149, + -2.8967857360839844e-05, + 10.691987991333008 + ], + [ + 0.08380001783370972, + 0.8322232961654663, + 11.349227905273438 + ], + [ + 0.08380001783370972, + 0.8322232961654663, + 10.691987991333008 + ], + [ + 0.08380001783370972, + -2.8967857360839844e-05, + 11.349227905273438 + ], + [ + 0.08380001783370972, + -2.8967857360839844e-05, + 10.691987991333008 + ] + ], + "center": { + "x": 0.37710443139076233, + "y": 0.41609716415405273, + "z": 11.020607948303223 + }, + "size": { + "x": 0.5866088271141052, + "y": 0.8322522640228271, + "z": 0.6572399139404297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4823914170265198, + -2.8878450393676758e-05, + 10.665593147277832 + ], + [ + 0.6957427263259888, + -2.8878450393676758e-05, + 11.253697395324707 + ], + [ + 0.2382904440164566, + -2.8878450393676758e-05, + 11.41965103149414 + ], + [ + 0.024939149618148804, + -2.8878450393676758e-05, + 10.83154582977295 + ], + [ + 0.4823914170265198, + 0.8322229385375977, + 10.665593147277832 + ], + [ + 0.6957427263259888, + 0.8322229385375977, + 11.253697395324707 + ], + [ + 0.2382904440164566, + 0.8322229385375977, + 11.41965103149414 + ], + [ + 0.024939149618148804, + 0.8322229385375977, + 10.83154582977295 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|5|2|1", + "object_info": { + "name": "FloorLamp|5|2|1", + "position": { + "x": 0.5298970341682434, + "y": 0.0011175274848937988, + "z": 12.820143699645996 + }, + "rotation": { + "x": 359.97186279296875, + "y": 107.9752426147461, + "z": 359.96441650390625 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.2020676136016846, + "objectType": "FloorLamp", + "objectId": "FloorLamp|5|2|1", + "assetId": "Floor_Lamp_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7999527454376221, + 1.9035253524780273, + 13.084524154663086 + ], + [ + 0.7999527454376221, + 1.9035253524780273, + 12.55500602722168 + ], + [ + 0.7999527454376221, + 2.8014183044433594e-06, + 13.084524154663086 + ], + [ + 0.7999527454376221, + 2.8014183044433594e-06, + 12.55500602722168 + ], + [ + 0.25673747062683105, + 1.9035253524780273, + 13.084524154663086 + ], + [ + 0.25673747062683105, + 1.9035253524780273, + 12.55500602722168 + ], + [ + 0.25673747062683105, + 2.8014183044433594e-06, + 13.084524154663086 + ], + [ + 0.25673747062683105, + 2.8014183044433594e-06, + 12.55500602722168 + ] + ], + "center": { + "x": 0.5283451080322266, + "y": 0.9517640471458435, + "z": 12.819765090942383 + }, + "size": { + "x": 0.543215274810791, + "y": 1.9035224914550781, + "z": 0.5295181274414062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6763427257537842, + 0.00012751261238008738, + 12.483539581298828 + ], + [ + 0.8463557958602905, + 0.00046967179514467716, + 13.007556915283203 + ], + [ + 0.382637083530426, + 0.00023013103054836392, + 13.15800666809082 + ], + [ + 0.21262401342391968, + -0.00011202821042388678, + 12.633989334106445 + ], + [ + 0.6750884056091309, + 1.903383731842041, + 12.482704162597656 + ], + [ + 0.8451014757156372, + 1.9037261009216309, + 13.006721496582031 + ], + [ + 0.3813827633857727, + 1.9034864902496338, + 13.157171249389648 + ], + [ + 0.21136969327926636, + 1.903144359588623, + 12.633153915405273 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|5|3|1", + "object_info": { + "name": "FloorLamp|5|3|1", + "position": { + "x": 3.7698938846588135, + "y": -0.0013020038604736328, + "z": 10.19776439666748 + }, + "rotation": { + "x": 0.02172813005745411, + "y": 269.86474609375, + "z": 0.005060222465544939 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.183903694152832, + "objectType": "FloorLamp", + "objectId": "FloorLamp|5|3|1", + "assetId": "Floor_Lamp_24", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.076558589935303, + 1.9928581714630127, + 10.481201171875 + ], + [ + 4.076558589935303, + 1.9928581714630127, + 9.914043426513672 + ], + [ + 4.076558589935303, + -3.337860107421875e-06, + 10.481201171875 + ], + [ + 4.076558589935303, + -3.337860107421875e-06, + 9.914043426513672 + ], + [ + 3.465336799621582, + 1.9928581714630127, + 10.481201171875 + ], + [ + 3.465336799621582, + 1.9928581714630127, + 9.914043426513672 + ], + [ + 3.465336799621582, + -3.337860107421875e-06, + 10.481201171875 + ], + [ + 3.465336799621582, + -3.337860107421875e-06, + 9.914043426513672 + ] + ], + "center": { + "x": 3.7709476947784424, + "y": 0.9964274168014526, + "z": 10.197622299194336 + }, + "size": { + "x": 0.6112217903137207, + "y": 1.9928615093231201, + "z": 0.5671577453613281 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.4653396606445312, + -6.3327606767416e-06, + 10.480626106262207 + ], + [ + 3.4666786193847656, + -5.6423014029860497e-05, + 9.913467407226562 + ], + [ + 4.077852249145508, + 0.00017535127699375153, + 9.914910316467285 + ], + [ + 4.076513290405273, + 0.00022544153034687042, + 10.48206901550293 + ], + [ + 3.4645843505859375, + 1.992717981338501, + 10.480448722839355 + ], + [ + 3.465923309326172, + 1.9926679134368896, + 9.913290023803711 + ], + [ + 4.077096939086914, + 1.9928996562957764, + 9.914732933044434 + ], + [ + 4.07575798034668, + 1.9929497241973877, + 10.481891632080078 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|3", + "object_info": { + "name": "Chair|5|1|3", + "position": { + "x": 0.9602224826812744, + "y": 0.0008544623851776123, + "z": 12.09346866607666 + }, + "rotation": { + "x": -0.0, + "y": 179.76864624023438, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.2716922760009766, + "objectType": "Chair", + "objectId": "Chair|5|1|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2730618715286255, + 0.8322234153747559, + 12.340633392333984 + ], + [ + 1.2730618715286255, + 0.8322234153747559, + 11.852867126464844 + ], + [ + 1.2730618715286255, + -2.8967857360839844e-05, + 12.340633392333984 + ], + [ + 1.2730618715286255, + -2.8967857360839844e-05, + 11.852867126464844 + ], + [ + 0.6474002599716187, + 0.8322234153747559, + 12.340633392333984 + ], + [ + 0.6474002599716187, + 0.8322234153747559, + 11.852867126464844 + ], + [ + 0.6474002599716187, + -2.8967857360839844e-05, + 12.340633392333984 + ], + [ + 0.6474002599716187, + -2.8967857360839844e-05, + 11.852867126464844 + ] + ], + "center": { + "x": 0.9602310657501221, + "y": 0.4160972237586975, + "z": 12.096750259399414 + }, + "size": { + "x": 0.6256616115570068, + "y": 0.8322523832321167, + "z": 0.4877662658691406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6485896110534668, + -2.8878450393676758e-05, + 11.8521728515625 + ], + [ + 1.2741929292678833, + -2.8878450393676758e-05, + 11.85469913482666 + ], + [ + 1.2722280025482178, + -2.8878450393676758e-05, + 12.34131908416748 + ], + [ + 0.6466245651245117, + -2.8878450393676758e-05, + 12.33879280090332 + ], + [ + 0.6485896110534668, + 0.8322229385375977, + 11.8521728515625 + ], + [ + 1.2741929292678833, + 0.8322229385375977, + 11.85469913482666 + ], + [ + 1.2722280025482178, + 0.8322229385375977, + 12.34131908416748 + ], + [ + 0.6466245651245117, + 0.8322229385375977, + 12.33879280090332 + ] + ] + } + } + }, + { + "objectId": "DogBed|5|4", + "object_info": { + "name": "DogBed|5|4", + "position": { + "x": 3.142756938934326, + "y": 0.005232550203800201, + "z": 12.344405174255371 + }, + "rotation": { + "x": 2.0365874661365524e-05, + "y": 270.00006103515625, + "z": -0.0002229101664852351 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.1083621978759766, + "objectType": "DogBed", + "objectId": "DogBed|5|4", + "assetId": "Dog_Bed_1_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7314629554748535, + 0.1752452552318573, + 12.932085037231445 + ], + [ + 3.7314629554748535, + 0.1752452552318573, + 11.755699157714844 + ], + [ + 3.7314629554748535, + 1.008063554763794e-05, + 12.932085037231445 + ], + [ + 3.7314629554748535, + 1.008063554763794e-05, + 11.755699157714844 + ], + [ + 2.555077075958252, + 0.1752452552318573, + 12.932085037231445 + ], + [ + 2.555077075958252, + 0.1752452552318573, + 11.755699157714844 + ], + [ + 2.555077075958252, + 1.008063554763794e-05, + 12.932085037231445 + ], + [ + 2.555077075958252, + 1.008063554763794e-05, + 11.755699157714844 + ] + ], + "center": { + "x": 3.1432700157165527, + "y": 0.08762767165899277, + "z": 12.343892097473145 + }, + "size": { + "x": 1.1763858795166016, + "y": 0.17523518204689026, + "z": 1.1763858795166016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.555075168609619, + 8.486676961183548e-06, + 12.932087898254395 + ], + [ + 2.5550739765167236, + 1.3063661754131317e-05, + 11.755697250366211 + ], + [ + 3.73146390914917, + 1.3481825590133667e-05, + 11.755695343017578 + ], + [ + 3.7314653396606445, + 8.904840797185898e-06, + 12.932085990905762 + ], + [ + 2.555075168609619, + 0.175241619348526, + 12.932088851928711 + ], + [ + 2.5550737380981445, + 0.17524617910385132, + 11.755697250366211 + ], + [ + 3.73146390914917, + 0.17524659633636475, + 11.755696296691895 + ], + [ + 3.7314653396606445, + 0.17524203658103943, + 12.932086944580078 + ] + ] + } + } + }, + { + "objectId": "Sofa|5|0|1", + "object_info": { + "name": "Sofa|5|0|1", + "position": { + "x": 6.446499824523926, + "y": 0.004032701253890991, + "z": 13.179540634155273 + }, + "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|5|47", + "CellPhone|surface|5|46", + "Pencil|surface|5|36" + ], + "distance": 3.4882724285125732, + "objectType": "Sofa", + "objectId": "Sofa|5|0|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.696000099182129, + 0.904558539390564, + 13.580131530761719 + ], + [ + 7.696000099182129, + 0.904558539390564, + 12.782821655273438 + ], + [ + 7.696000099182129, + -2.205371856689453e-06, + 13.580131530761719 + ], + [ + 7.696000099182129, + -2.205371856689453e-06, + 12.782821655273438 + ], + [ + 5.196999549865723, + 0.904558539390564, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 12.782821655273438 + ], + [ + 5.196999549865723, + -2.205371856689453e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + -2.205371856689453e-06, + 12.782821655273438 + ] + ], + "center": { + "x": 6.446499824523926, + "y": 0.45227816700935364, + "z": 13.181476593017578 + }, + "size": { + "x": 2.4990005493164062, + "y": 0.9045607447624207, + "z": 0.7973098754882812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.196999549865723, + -2.2351741790771484e-06, + 12.782820701599121 + ], + [ + 7.696000099182129, + -2.2351741790771484e-06, + 12.782820701599121 + ], + [ + 7.696000099182129, + -2.2351741790771484e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + -2.2351741790771484e-06, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 12.782820701599121 + ], + [ + 7.696000099182129, + 0.904558539390564, + 12.782820701599121 + ], + [ + 7.696000099182129, + 0.904558539390564, + 13.580131530761719 + ], + [ + 5.196999549865723, + 0.904558539390564, + 13.580131530761719 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|5|50", + "object_info": { + "name": "Vase|surface|5|50", + "position": { + "x": 1.0836564302444458, + "y": 0.781941831111908, + "z": 11.485566139221191 + }, + "rotation": { + "x": -0.0004907511174678802, + "y": 0.00023223344760481268, + "z": -0.0016346541233360767 + }, + "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": 3.5141592025756836, + "objectType": "Vase", + "objectId": "Vase|surface|5|50", + "assetId": "Vase_Tall_4", + "parentReceptacles": [ + "DiningTable|5|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1712262630462646, + 1.0757306814193726, + 11.572885513305664 + ], + [ + 1.1712262630462646, + 1.0757306814193726, + 11.398244857788086 + ], + [ + 1.1712262630462646, + 0.7810460329055786, + 11.572885513305664 + ], + [ + 1.1712262630462646, + 0.7810460329055786, + 11.398244857788086 + ], + [ + 0.9960906505584717, + 1.0757306814193726, + 11.572885513305664 + ], + [ + 0.9960906505584717, + 1.0757306814193726, + 11.398244857788086 + ], + [ + 0.9960906505584717, + 0.7810460329055786, + 11.572885513305664 + ], + [ + 0.9960906505584717, + 0.7810460329055786, + 11.398244857788086 + ] + ], + "center": { + "x": 1.0836584568023682, + "y": 0.9283883571624756, + "z": 11.485565185546875 + }, + "size": { + "x": 0.17513561248779297, + "y": 0.29468464851379395, + "z": 0.17464065551757812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.17122483253479, + 0.7810447812080383, + 11.57288646697998 + ], + [ + 0.9960867762565613, + 0.7810497879981995, + 11.572887420654297 + ], + [ + 0.9960861206054688, + 0.7810482978820801, + 11.398245811462402 + ], + [ + 1.1712241172790527, + 0.781043291091919, + 11.398244857788086 + ], + [ + 1.1712331771850586, + 1.0757310390472412, + 11.572883605957031 + ], + [ + 0.9960951805114746, + 1.0757360458374023, + 11.572884559631348 + ], + [ + 0.9960944652557373, + 1.0757344961166382, + 11.39824390411377 + ], + [ + 1.1712324619293213, + 1.075729489326477, + 11.398242950439453 + ] + ] + } + } + }, + { + "objectId": "TVStand|5|0|0", + "object_info": { + "name": "TVStand|5|0|0", + "position": { + "x": 6.446499824523926, + "y": 3.3974647521972656e-05, + "z": 10.124410629272461 + }, + "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": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|surface|5|52", + "Watch|surface|5|45", + "Candle|surface|5|41", + "Television|5|0|2", + "TissueBox|surface|5|40", + "DeskLamp|surface|5|44", + "RemoteControl|surface|5|43" + ], + "distance": 5.296209812164307, + "objectType": "TVStand", + "objectId": "TVStand|5|0|0", + "assetId": "TV_Stand_204_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.0554704666137695, + 0.689346194267273, + 10.572821617126465 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.0, + 10.572821617126465 + ], + [ + 7.0554704666137695, + 0.0, + 9.675999641418457 + ], + [ + 5.837529182434082, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 9.675999641418457 + ], + [ + 5.837529182434082, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 9.675999641418457 + ] + ], + "center": { + "x": 6.446499824523926, + "y": 0.3446730971336365, + "z": 10.124410629272461 + }, + "size": { + "x": 1.2179412841796875, + "y": 0.689346194267273, + "z": 0.8968219757080078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.0554704666137695, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.0, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.0, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 10.572821617126465 + ], + [ + 5.837529182434082, + 0.689346194267273, + 9.675999641418457 + ], + [ + 7.0554704666137695, + 0.689346194267273, + 9.675999641418457 + ] + ] + } + } + }, + { + "objectId": "Box|surface|5|37", + "object_info": { + "name": "Box|surface|5|37", + "position": { + "x": 1.206912875175476, + "y": 1.0602198839187622, + "z": 11.264086723327637 + }, + "rotation": { + "x": 0.00024621831835247576, + "y": 8.818566129775718e-05, + "z": 9.233342279912904e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 3.6214959621429443, + "objectType": "Box", + "objectId": "Box|surface|5|37", + "assetId": "Box_3", + "parentReceptacles": [ + "DiningTable|5|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4144961833953857, + 1.1031346321105957, + 11.309131622314453 + ], + [ + 1.4144961833953857, + 1.1031346321105957, + 10.962785720825195 + ], + [ + 1.4144961833953857, + 0.7810457944869995, + 11.309131622314453 + ], + [ + 1.4144961833953857, + 0.7810457944869995, + 10.962785720825195 + ], + [ + 1.00107741355896, + 1.1031346321105957, + 11.309131622314453 + ], + [ + 1.00107741355896, + 1.1031346321105957, + 10.962785720825195 + ], + [ + 1.00107741355896, + 0.7810457944869995, + 11.309131622314453 + ], + [ + 1.00107741355896, + 0.7810457944869995, + 10.962785720825195 + ] + ], + "center": { + "x": 1.2077867984771729, + "y": 0.9420902132987976, + "z": 11.135958671569824 + }, + "size": { + "x": 0.4134187698364258, + "y": 0.3220888376235962, + "z": 0.3463459014892578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4144978523254395, + 0.7810449600219727, + 11.309130668640137 + ], + [ + 1.0010769367218018, + 0.7810442447662354, + 11.309131622314453 + ], + [ + 1.0010764598846436, + 0.7810457348823547, + 10.962783813476562 + ], + [ + 1.4144973754882812, + 0.7810463905334473, + 10.962782859802246 + ], + [ + 1.4144973754882812, + 1.1031358242034912, + 11.30913257598877 + ], + [ + 1.0010764598846436, + 1.1031352281570435, + 11.309133529663086 + ], + [ + 1.0010758638381958, + 1.103136658668518, + 10.962784767150879 + ], + [ + 1.4144967794418335, + 1.1031373739242554, + 10.962783813476562 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.299999952316284, + "y": 0.9009997844696045, + "z": 14.0 + }, + "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": 3.299999952316284, + "y": 1.5759997367858887, + "z": 14.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|5|1|0", + "Chair|5|1|1", + "Chair|5|1|2", + "Book|surface|5|49", + "Box|surface|5|37", + "Vase|surface|5|50", + "FloorLamp|5|2|1", + "DogBed|5|4", + "Chair|5|1|4", + "Chair|5|1|3" + ], + "different_object": [ + "FloorLamp|5|3|1", + "TVStand|5|0|0", + "Sofa|5|0|1", + "Bowl|surface|5|38", + "ArmChair|5|3|0" + ] +} \ No newline at end of file diff --git a/train/train950/2/0_depth_npy.npy b/train/train950/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d2fbddd45df7c03d1326821e77f169e31af90d84 --- /dev/null +++ b/train/train950/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e1b409c43def9048081e318e429f84a24ee42da18871ce7a46641ed070a5fe6 +size 3145856 diff --git a/train/train950/2/0_semantic_sensor_npy.npy b/train/train950/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..53168effbb7facbd52f1506a10a15e83d90b89ce --- /dev/null +++ b/train/train950/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e764d0fdfaee84b29ef6cabe6692c446fd3248be9784666860157e716a757d7 +size 2359424 diff --git a/train/train950/2/1.json b/train/train950/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..887401c5d778104483dfa00da1d93f6829725931 --- /dev/null +++ b/train/train950/2/1.json @@ -0,0 +1,2254 @@ +{ + "object": [ + { + "objectId": "Book|surface|5|49", + "object_info": { + "name": "Book|surface|5|49", + "position": { + "x": 0.40522468090057373, + "y": 0.3342370092868805, + "z": 10.96490478515625 + }, + "rotation": { + "x": 0.0038871746510267258, + "y": 109.94108581542969, + "z": -0.0029898264911025763 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 4.382443904876709, + "objectType": "Book", + "objectId": "Book|surface|5|49", + "assetId": "Book_6", + "parentReceptacles": [ + "Chair|5|1|4", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5412553548812866, + 0.37084877490997314, + 11.074289321899414 + ], + [ + 0.5412553548812866, + 0.37084877490997314, + 10.852178573608398 + ], + [ + 0.5412553548812866, + 0.33455443382263184, + 11.074289321899414 + ], + [ + 0.5412553548812866, + 0.33455443382263184, + 10.852178573608398 + ], + [ + 0.26798492670059204, + 0.37084877490997314, + 11.074289321899414 + ], + [ + 0.26798492670059204, + 0.37084877490997314, + 10.852178573608398 + ], + [ + 0.26798492670059204, + 0.33455443382263184, + 11.074289321899414 + ], + [ + 0.26798492670059204, + 0.33455443382263184, + 10.852178573608398 + ] + ], + "center": { + "x": 0.40462014079093933, + "y": 0.3527016043663025, + "z": 10.963233947753906 + }, + "size": { + "x": 0.2732704281806946, + "y": 0.03629434108734131, + "z": 0.22211074829101562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.48987722396850586, + 0.3345543444156647, + 10.852179527282715 + ], + [ + 0.5412965416908264, + 0.334562212228775, + 10.993906021118164 + ], + [ + 0.31940388679504395, + 0.3345782458782196, + 11.074410438537598 + ], + [ + 0.2679845690727234, + 0.33457037806510925, + 10.932682991027832 + ], + [ + 0.48987889289855957, + 0.3708249628543854, + 10.852176666259766 + ], + [ + 0.5412982106208801, + 0.3708328306674957, + 10.993903160095215 + ], + [ + 0.31940555572509766, + 0.3708488345146179, + 11.074407577514648 + ], + [ + 0.2679862380027771, + 0.37084096670150757, + 10.9326810836792 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|2", + "object_info": { + "name": "Chair|5|1|2", + "position": { + "x": 0.961380124092102, + "y": 0.0008544623851776123, + "z": 9.991575241088867 + }, + "rotation": { + "x": -0.0, + "y": 14.176345825195312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.917542457580566, + "objectType": "Chair", + "objectId": "Chair|5|1|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2984488010406494, + 0.8322232961654663, + 10.280342102050781 + ], + [ + 1.2984488010406494, + 0.8322232961654663, + 9.718208312988281 + ], + [ + 1.2984488010406494, + -2.905726432800293e-05, + 10.280342102050781 + ], + [ + 1.2984488010406494, + -2.905726432800293e-05, + 9.718208312988281 + ], + [ + 0.6480904817581177, + 0.8322232961654663, + 10.280342102050781 + ], + [ + 0.6480904817581177, + 0.8322232961654663, + 9.718208312988281 + ], + [ + 0.6480904817581177, + -2.905726432800293e-05, + 10.280342102050781 + ], + [ + 0.6480904817581177, + -2.905726432800293e-05, + 9.718208312988281 + ] + ], + "center": { + "x": 0.9732696413993835, + "y": 0.41609713435173035, + "z": 9.999275207519531 + }, + "size": { + "x": 0.6503583192825317, + "y": 0.8322523832321167, + "z": 0.5621337890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3232512474060059, + -2.8878450393676758e-05, + 10.147741317749023 + ], + [ + 0.7166947722434998, + -2.8878450393676758e-05, + 10.300957679748535 + ], + [ + 0.5975170135498047, + -2.8878450393676758e-05, + 9.829153060913086 + ], + [ + 1.2040736675262451, + -2.8878450393676758e-05, + 9.675936698913574 + ], + [ + 1.3232512474060059, + 0.8322229385375977, + 10.147741317749023 + ], + [ + 0.7166947722434998, + 0.8322229385375977, + 10.300957679748535 + ], + [ + 0.5975170135498047, + 0.8322229385375977, + 9.829153060913086 + ], + [ + 1.2040736675262451, + 0.8322229385375977, + 9.675936698913574 + ] + ] + } + } + }, + { + "objectId": "DiningTable|5|1|0", + "object_info": { + "name": "DiningTable|5|1|0", + "position": { + "x": 0.9604051113128662, + "y": -0.0031822919845581055, + "z": 11.042594909667969 + }, + "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": [ + "Plate|surface|5|48", + "Box|surface|5|37", + "Vase|surface|5|50", + "CellPhone|surface|5|39", + "Pencil|surface|5|51" + ], + "distance": 4.0431718826293945, + "objectType": "DiningTable", + "objectId": "DiningTable|5|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4604058265686035, + 0.7810473442077637, + 11.936676979064941 + ], + [ + 1.4604058265686035, + 0.7810473442077637, + 10.148512840270996 + ], + [ + 1.4604058265686035, + 3.516674041748047e-06, + 11.936676979064941 + ], + [ + 1.4604058265686035, + 3.516674041748047e-06, + 10.148512840270996 + ], + [ + 0.4604043960571289, + 0.7810473442077637, + 11.936676979064941 + ], + [ + 0.4604043960571289, + 0.7810473442077637, + 10.148512840270996 + ], + [ + 0.4604043960571289, + 3.516674041748047e-06, + 11.936676979064941 + ], + [ + 0.4604043960571289, + 3.516674041748047e-06, + 10.148512840270996 + ] + ], + "center": { + "x": 0.9604051113128662, + "y": 0.3905254304409027, + "z": 11.042594909667969 + }, + "size": { + "x": 1.0000014305114746, + "y": 0.7810438275337219, + "z": 1.7881641387939453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4604054689407349, + 3.5762786865234375e-06, + 10.148512840270996 + ], + [ + 1.460405707359314, + 3.5762786865234375e-06, + 11.936676979064941 + ], + [ + 0.46040475368499756, + 3.5762786865234375e-06, + 11.936676979064941 + ], + [ + 0.46040451526641846, + 3.5762786865234375e-06, + 10.148512840270996 + ], + [ + 1.4604054689407349, + 0.7810471653938293, + 10.148512840270996 + ], + [ + 1.460405707359314, + 0.7810471653938293, + 11.936676979064941 + ], + [ + 0.46040475368499756, + 0.7810471653938293, + 11.936676979064941 + ], + [ + 0.46040451526641846, + 0.7810471653938293, + 10.148512840270996 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|1", + "object_info": { + "name": "Chair|5|1|1", + "position": { + "x": 1.5571990013122559, + "y": 0.0008544623851776123, + "z": 11.042810440063477 + }, + "rotation": { + "x": 0.0, + "y": 270.35205078125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.736562728881836, + "objectType": "Chair", + "objectId": "Chair|5|1|1", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8046317100524902, + 0.8322232961654663, + 11.35507583618164 + ], + [ + 1.8046317100524902, + 0.8322232961654663, + 10.729564666748047 + ], + [ + 1.8046317100524902, + -2.8908252716064453e-05, + 11.35507583618164 + ], + [ + 1.8046317100524902, + -2.8908252716064453e-05, + 10.729564666748047 + ], + [ + 1.3163015842437744, + 0.8322232961654663, + 11.35507583618164 + ], + [ + 1.3163015842437744, + 0.8322232961654663, + 10.729564666748047 + ], + [ + 1.3163015842437744, + -2.8908252716064453e-05, + 11.35507583618164 + ], + [ + 1.3163015842437744, + -2.8908252716064453e-05, + 10.729564666748047 + ] + ], + "center": { + "x": 1.5604666471481323, + "y": 0.4160971939563751, + "z": 11.042320251464844 + }, + "size": { + "x": 0.4883301258087158, + "y": 0.8322522044181824, + "z": 0.6255111694335938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3190888166427612, + -2.8878450393676758e-05, + 11.356884002685547 + ], + [ + 1.3152449131011963, + -2.8878450393676758e-05, + 10.731287002563477 + ], + [ + 1.8018598556518555, + -2.8878450393676758e-05, + 10.728297233581543 + ], + [ + 1.80570387840271, + -2.8878450393676758e-05, + 11.353894233703613 + ], + [ + 1.3190888166427612, + 0.8322229385375977, + 11.356884002685547 + ], + [ + 1.3152449131011963, + 0.8322229385375977, + 10.731287002563477 + ], + [ + 1.8018598556518555, + 0.8322229385375977, + 10.728297233581543 + ], + [ + 1.80570387840271, + 0.8322229385375977, + 11.353894233703613 + ] + ] + } + } + }, + { + "objectId": "ArmChair|5|2|0", + "object_info": { + "name": "ArmChair|5|2|0", + "position": { + "x": 0.5421899557113647, + "y": 0.0029325485229492188, + "z": 13.930973052978516 + }, + "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": 28.299999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Laptop|surface|5|42" + ], + "distance": 2.870633602142334, + "objectType": "ArmChair", + "objectId": "ArmChair|5|2|0", + "assetId": "Armchair_205_1_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0339765548706055, + 0.997583270072937, + 14.513530731201172 + ], + [ + 1.0339765548706055, + 0.997583270072937, + 13.348011016845703 + ], + [ + 1.0339765548706055, + -4.112720489501953e-06, + 14.513530731201172 + ], + [ + 1.0339765548706055, + -4.112720489501953e-06, + 13.348011016845703 + ], + [ + 0.02497965097427368, + 0.997583270072937, + 14.513530731201172 + ], + [ + 0.02497965097427368, + 0.997583270072937, + 13.348011016845703 + ], + [ + 0.02497965097427368, + -4.112720489501953e-06, + 14.513530731201172 + ], + [ + 0.02497965097427368, + -4.112720489501953e-06, + 13.348011016845703 + ] + ], + "center": { + "x": 0.529478132724762, + "y": 0.49878957867622375, + "z": 13.930770874023438 + }, + "size": { + "x": 1.0089969635009766, + "y": 0.9975873827934265, + "z": 1.1655197143554688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0339763164520264, + -4.0531158447265625e-06, + 13.348011016845703 + ], + [ + 1.0339763164520264, + -4.0531158447265625e-06, + 14.513530731201172 + ], + [ + 0.024980008602142334, + -4.0531158447265625e-06, + 14.513530731201172 + ], + [ + 0.024979889392852783, + -4.0531158447265625e-06, + 13.348011016845703 + ], + [ + 1.0339763164520264, + 0.9975828528404236, + 13.348011016845703 + ], + [ + 1.0339763164520264, + 0.9975828528404236, + 14.513530731201172 + ], + [ + 0.024980008602142334, + 0.9975828528404236, + 14.513530731201172 + ], + [ + 0.024979889392852783, + 0.9975828528404236, + 13.348011016845703 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|4", + "object_info": { + "name": "Chair|5|1|4", + "position": { + "x": 0.36335310339927673, + "y": 0.0008544623851776123, + "z": 11.041316986083984 + }, + "rotation": { + "x": -0.0, + "y": 109.93963623046875, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|5|49" + ], + "distance": 4.408926963806152, + "objectType": "Chair", + "objectId": "Chair|5|1|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6704088449478149, + 0.8322232961654663, + 11.349227905273438 + ], + [ + 0.6704088449478149, + 0.8322232961654663, + 10.691987991333008 + ], + [ + 0.6704088449478149, + -2.8967857360839844e-05, + 11.349227905273438 + ], + [ + 0.6704088449478149, + -2.8967857360839844e-05, + 10.691987991333008 + ], + [ + 0.08380001783370972, + 0.8322232961654663, + 11.349227905273438 + ], + [ + 0.08380001783370972, + 0.8322232961654663, + 10.691987991333008 + ], + [ + 0.08380001783370972, + -2.8967857360839844e-05, + 11.349227905273438 + ], + [ + 0.08380001783370972, + -2.8967857360839844e-05, + 10.691987991333008 + ] + ], + "center": { + "x": 0.37710443139076233, + "y": 0.41609716415405273, + "z": 11.020607948303223 + }, + "size": { + "x": 0.5866088271141052, + "y": 0.8322522640228271, + "z": 0.6572399139404297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4823914170265198, + -2.8878450393676758e-05, + 10.665593147277832 + ], + [ + 0.6957427263259888, + -2.8878450393676758e-05, + 11.253697395324707 + ], + [ + 0.2382904440164566, + -2.8878450393676758e-05, + 11.41965103149414 + ], + [ + 0.024939149618148804, + -2.8878450393676758e-05, + 10.83154582977295 + ], + [ + 0.4823914170265198, + 0.8322229385375977, + 10.665593147277832 + ], + [ + 0.6957427263259888, + 0.8322229385375977, + 11.253697395324707 + ], + [ + 0.2382904440164566, + 0.8322229385375977, + 11.41965103149414 + ], + [ + 0.024939149618148804, + 0.8322229385375977, + 10.83154582977295 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|5|2|1", + "object_info": { + "name": "FloorLamp|5|2|1", + "position": { + "x": 0.5298970341682434, + "y": 0.0011175274848937988, + "z": 12.820143699645996 + }, + "rotation": { + "x": 359.97186279296875, + "y": 107.9752426147461, + "z": 359.96441650390625 + }, + "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": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.2020676136016846, + "objectType": "FloorLamp", + "objectId": "FloorLamp|5|2|1", + "assetId": "Floor_Lamp_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7999527454376221, + 1.9035253524780273, + 13.084524154663086 + ], + [ + 0.7999527454376221, + 1.9035253524780273, + 12.55500602722168 + ], + [ + 0.7999527454376221, + 2.8014183044433594e-06, + 13.084524154663086 + ], + [ + 0.7999527454376221, + 2.8014183044433594e-06, + 12.55500602722168 + ], + [ + 0.25673747062683105, + 1.9035253524780273, + 13.084524154663086 + ], + [ + 0.25673747062683105, + 1.9035253524780273, + 12.55500602722168 + ], + [ + 0.25673747062683105, + 2.8014183044433594e-06, + 13.084524154663086 + ], + [ + 0.25673747062683105, + 2.8014183044433594e-06, + 12.55500602722168 + ] + ], + "center": { + "x": 0.5283451080322266, + "y": 0.9517640471458435, + "z": 12.819765090942383 + }, + "size": { + "x": 0.543215274810791, + "y": 1.9035224914550781, + "z": 0.5295181274414062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6763427257537842, + 0.00012751261238008738, + 12.483539581298828 + ], + [ + 0.8463557958602905, + 0.00046967179514467716, + 13.007556915283203 + ], + [ + 0.382637083530426, + 0.00023013103054836392, + 13.15800666809082 + ], + [ + 0.21262401342391968, + -0.00011202821042388678, + 12.633989334106445 + ], + [ + 0.6750884056091309, + 1.903383731842041, + 12.482704162597656 + ], + [ + 0.8451014757156372, + 1.9037261009216309, + 13.006721496582031 + ], + [ + 0.3813827633857727, + 1.9034864902496338, + 13.157171249389648 + ], + [ + 0.21136969327926636, + 1.903144359588623, + 12.633153915405273 + ] + ] + } + } + }, + { + "objectId": "Chair|5|1|3", + "object_info": { + "name": "Chair|5|1|3", + "position": { + "x": 0.9602224826812744, + "y": 0.0008544623851776123, + "z": 12.09346866607666 + }, + "rotation": { + "x": -0.0, + "y": 179.76864624023438, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.2716922760009766, + "objectType": "Chair", + "objectId": "Chair|5|1|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2730618715286255, + 0.8322234153747559, + 12.340633392333984 + ], + [ + 1.2730618715286255, + 0.8322234153747559, + 11.852867126464844 + ], + [ + 1.2730618715286255, + -2.8967857360839844e-05, + 12.340633392333984 + ], + [ + 1.2730618715286255, + -2.8967857360839844e-05, + 11.852867126464844 + ], + [ + 0.6474002599716187, + 0.8322234153747559, + 12.340633392333984 + ], + [ + 0.6474002599716187, + 0.8322234153747559, + 11.852867126464844 + ], + [ + 0.6474002599716187, + -2.8967857360839844e-05, + 12.340633392333984 + ], + [ + 0.6474002599716187, + -2.8967857360839844e-05, + 11.852867126464844 + ] + ], + "center": { + "x": 0.9602310657501221, + "y": 0.4160972237586975, + "z": 12.096750259399414 + }, + "size": { + "x": 0.6256616115570068, + "y": 0.8322523832321167, + "z": 0.4877662658691406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6485896110534668, + -2.8878450393676758e-05, + 11.8521728515625 + ], + [ + 1.2741929292678833, + -2.8878450393676758e-05, + 11.85469913482666 + ], + [ + 1.2722280025482178, + -2.8878450393676758e-05, + 12.34131908416748 + ], + [ + 0.6466245651245117, + -2.8878450393676758e-05, + 12.33879280090332 + ], + [ + 0.6485896110534668, + 0.8322229385375977, + 11.8521728515625 + ], + [ + 1.2741929292678833, + 0.8322229385375977, + 11.85469913482666 + ], + [ + 1.2722280025482178, + 0.8322229385375977, + 12.34131908416748 + ], + [ + 0.6466245651245117, + 0.8322229385375977, + 12.33879280090332 + ] + ] + } + } + }, + { + "objectId": "window|5|0", + "object_info": { + "name": "window|5|0", + "position": { + "x": 5.59967702429276e-07, + "y": 0.9527096748352051, + "z": 14.520305633544922 + }, + "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": 3.2616307735443115, + "objectType": "Window", + "objectId": "window|5|0", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.041199181228876114, + 1.8671165704727173, + 15.434728622436523 + ], + [ + 0.041199181228876114, + 1.8671165704727173, + 14.520282745361328 + ], + [ + 0.041199181228876114, + 0.9506262540817261, + 15.434728622436523 + ], + [ + 0.041199181228876114, + 0.9506262540817261, + 14.520282745361328 + ], + [ + -0.041199225932359695, + 1.8671165704727173, + 15.434728622436523 + ], + [ + -0.041199225932359695, + 1.8671165704727173, + 14.520282745361328 + ], + [ + -0.041199225932359695, + 0.9506262540817261, + 15.434728622436523 + ], + [ + -0.041199225932359695, + 0.9506262540817261, + 14.520282745361328 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.4088714122772217, + "z": 14.977505683898926 + }, + "size": { + "x": 0.08239840716123581, + "y": 0.9164903163909912, + "z": 0.9144458770751953 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|5|5", + "object_info": { + "name": "Painting|5|5", + "position": { + "x": 0.004995774477720261, + "y": 1.8175750970840454, + "z": 11.988358497619629 + }, + "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": 4.060194969177246, + "objectType": "Painting", + "objectId": "Painting|5|5", + "assetId": "Wall_Decor_Photo_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.036741048097610474, + 2.1510050296783447, + 12.423208236694336 + ], + [ + 0.036741048097610474, + 2.1510050296783447, + 11.553508758544922 + ], + [ + 0.036741048097610474, + 1.4841454029083252, + 12.423208236694336 + ], + [ + 0.036741048097610474, + 1.4841454029083252, + 11.553508758544922 + ], + [ + 0.004999935626983643, + 2.1510050296783447, + 12.423208236694336 + ], + [ + 0.004999935626983643, + 2.1510050296783447, + 11.553508758544922 + ], + [ + 0.004999935626983643, + 1.4841454029083252, + 12.423208236694336 + ], + [ + 0.004999935626983643, + 1.4841454029083252, + 11.553508758544922 + ] + ], + "center": { + "x": 0.020870491862297058, + "y": 1.817575216293335, + "z": 11.988358497619629 + }, + "size": { + "x": 0.03174111247062683, + "y": 0.6668596267700195, + "z": 0.8696994781494141 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|5|42", + "object_info": { + "name": "Laptop|surface|5|42", + "position": { + "x": 0.8715707659721375, + "y": 0.5121484994888306, + "z": 13.933088302612305 + }, + "rotation": { + "x": -1.0866763659578282e-05, + "y": 90.0, + "z": 1.0866764569072984e-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": 2.430753707885742, + "objectType": "Laptop", + "objectId": "Laptop|surface|5|42", + "assetId": "Laptop_26", + "parentReceptacles": [ + "ArmChair|5|2|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0278522968292236, + 0.8619073033332825, + 14.14455795288086 + ], + [ + 1.0278522968292236, + 0.8619073033332825, + 13.72161865234375 + ], + [ + 1.0278522968292236, + 0.5121484398841858, + 14.14455795288086 + ], + [ + 1.0278522968292236, + 0.5121484398841858, + 13.72161865234375 + ], + [ + 0.6904317140579224, + 0.8619073033332825, + 14.14455795288086 + ], + [ + 0.6904317140579224, + 0.8619073033332825, + 13.72161865234375 + ], + [ + 0.6904317140579224, + 0.5121484398841858, + 14.14455795288086 + ], + [ + 0.6904317140579224, + 0.5121484398841858, + 13.72161865234375 + ] + ], + "center": { + "x": 0.859142005443573, + "y": 0.6870278716087341, + "z": 13.933088302612305 + }, + "size": { + "x": 0.33742058277130127, + "y": 0.3497588634490967, + "z": 0.4229393005371094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0278522968292236, + 0.5121485590934753, + 13.72161865234375 + ], + [ + 1.027852177619934, + 0.5121484398841858, + 14.14455795288086 + ], + [ + 0.6904319524765015, + 0.512148380279541, + 14.14455795288086 + ], + [ + 0.6904319524765015, + 0.5121484994888306, + 13.72161865234375 + ], + [ + 1.027852177619934, + 0.8619073033332825, + 13.72161865234375 + ], + [ + 1.027852177619934, + 0.8619072437286377, + 14.144558906555176 + ], + [ + 0.6904318928718567, + 0.8619071841239929, + 14.14455795288086 + ], + [ + 0.6904318928718567, + 0.8619072437286377, + 13.72161865234375 + ] + ] + } + } + }, + { + "objectId": "DogBed|5|4", + "object_info": { + "name": "DogBed|5|4", + "position": { + "x": 3.142756938934326, + "y": 0.005232550203800201, + "z": 12.344405174255371 + }, + "rotation": { + "x": 2.0365874661365524e-05, + "y": 270.00006103515625, + "z": -0.0002229101664852351 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "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": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.1083621978759766, + "objectType": "DogBed", + "objectId": "DogBed|5|4", + "assetId": "Dog_Bed_1_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7314629554748535, + 0.1752452552318573, + 12.932085037231445 + ], + [ + 3.7314629554748535, + 0.1752452552318573, + 11.755699157714844 + ], + [ + 3.7314629554748535, + 1.008063554763794e-05, + 12.932085037231445 + ], + [ + 3.7314629554748535, + 1.008063554763794e-05, + 11.755699157714844 + ], + [ + 2.555077075958252, + 0.1752452552318573, + 12.932085037231445 + ], + [ + 2.555077075958252, + 0.1752452552318573, + 11.755699157714844 + ], + [ + 2.555077075958252, + 1.008063554763794e-05, + 12.932085037231445 + ], + [ + 2.555077075958252, + 1.008063554763794e-05, + 11.755699157714844 + ] + ], + "center": { + "x": 3.1432700157165527, + "y": 0.08762767165899277, + "z": 12.343892097473145 + }, + "size": { + "x": 1.1763858795166016, + "y": 0.17523518204689026, + "z": 1.1763858795166016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.555075168609619, + 8.486676961183548e-06, + 12.932087898254395 + ], + [ + 2.5550739765167236, + 1.3063661754131317e-05, + 11.755697250366211 + ], + [ + 3.73146390914917, + 1.3481825590133667e-05, + 11.755695343017578 + ], + [ + 3.7314653396606445, + 8.904840797185898e-06, + 12.932085990905762 + ], + [ + 2.555075168609619, + 0.175241619348526, + 12.932088851928711 + ], + [ + 2.5550737380981445, + 0.17524617910385132, + 11.755697250366211 + ], + [ + 3.73146390914917, + 0.17524659633636475, + 11.755696296691895 + ], + [ + 3.7314653396606445, + 0.17524203658103943, + 12.932086944580078 + ] + ] + } + } + }, + { + "objectId": "Painting|5|6", + "object_info": { + "name": "Painting|5|6", + "position": { + "x": 2.538408041000366, + "y": 1.4868245124816895, + "z": 15.435393333435059 + }, + "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": 1.5015695095062256, + "objectType": "Painting", + "objectId": "Painting|5|6", + "assetId": "Wall_Decor_Photo_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.0065414905548096, + 1.8086011409759521, + 15.437000274658203 + ], + [ + 3.0065414905548096, + 1.8086011409759521, + 15.40957260131836 + ], + [ + 3.0065414905548096, + 1.168074607849121, + 15.437000274658203 + ], + [ + 3.0065414905548096, + 1.168074607849121, + 15.40957260131836 + ], + [ + 2.070274591445923, + 1.8086011409759521, + 15.437000274658203 + ], + [ + 2.070274591445923, + 1.8086011409759521, + 15.40957260131836 + ], + [ + 2.070274591445923, + 1.168074607849121, + 15.437000274658203 + ], + [ + 2.070274591445923, + 1.168074607849121, + 15.40957260131836 + ] + ], + "center": { + "x": 2.538408041000366, + "y": 1.4883378744125366, + "z": 15.423286437988281 + }, + "size": { + "x": 0.9362668991088867, + "y": 0.640526533126831, + "z": 0.02742767333984375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Vase|surface|5|50", + "object_info": { + "name": "Vase|surface|5|50", + "position": { + "x": 1.0836564302444458, + "y": 0.781941831111908, + "z": 11.485566139221191 + }, + "rotation": { + "x": -0.0004907511174678802, + "y": 0.00023223344760481268, + "z": -0.0016346541233360767 + }, + "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": 3.5141592025756836, + "objectType": "Vase", + "objectId": "Vase|surface|5|50", + "assetId": "Vase_Tall_4", + "parentReceptacles": [ + "DiningTable|5|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1712262630462646, + 1.0757306814193726, + 11.572885513305664 + ], + [ + 1.1712262630462646, + 1.0757306814193726, + 11.398244857788086 + ], + [ + 1.1712262630462646, + 0.7810460329055786, + 11.572885513305664 + ], + [ + 1.1712262630462646, + 0.7810460329055786, + 11.398244857788086 + ], + [ + 0.9960906505584717, + 1.0757306814193726, + 11.572885513305664 + ], + [ + 0.9960906505584717, + 1.0757306814193726, + 11.398244857788086 + ], + [ + 0.9960906505584717, + 0.7810460329055786, + 11.572885513305664 + ], + [ + 0.9960906505584717, + 0.7810460329055786, + 11.398244857788086 + ] + ], + "center": { + "x": 1.0836584568023682, + "y": 0.9283883571624756, + "z": 11.485565185546875 + }, + "size": { + "x": 0.17513561248779297, + "y": 0.29468464851379395, + "z": 0.17464065551757812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.17122483253479, + 0.7810447812080383, + 11.57288646697998 + ], + [ + 0.9960867762565613, + 0.7810497879981995, + 11.572887420654297 + ], + [ + 0.9960861206054688, + 0.7810482978820801, + 11.398245811462402 + ], + [ + 1.1712241172790527, + 0.781043291091919, + 11.398244857788086 + ], + [ + 1.1712331771850586, + 1.0757310390472412, + 11.572883605957031 + ], + [ + 0.9960951805114746, + 1.0757360458374023, + 11.572884559631348 + ], + [ + 0.9960944652557373, + 1.0757344961166382, + 11.39824390411377 + ], + [ + 1.1712324619293213, + 1.075729489326477, + 11.398242950439453 + ] + ] + } + } + }, + { + "objectId": "Box|surface|5|37", + "object_info": { + "name": "Box|surface|5|37", + "position": { + "x": 1.206912875175476, + "y": 1.0602198839187622, + "z": 11.264086723327637 + }, + "rotation": { + "x": 0.00024621831835247576, + "y": 8.818566129775718e-05, + "z": 9.233342279912904e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": 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": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 3.6214959621429443, + "objectType": "Box", + "objectId": "Box|surface|5|37", + "assetId": "Box_3", + "parentReceptacles": [ + "DiningTable|5|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4144961833953857, + 1.1031346321105957, + 11.309131622314453 + ], + [ + 1.4144961833953857, + 1.1031346321105957, + 10.962785720825195 + ], + [ + 1.4144961833953857, + 0.7810457944869995, + 11.309131622314453 + ], + [ + 1.4144961833953857, + 0.7810457944869995, + 10.962785720825195 + ], + [ + 1.00107741355896, + 1.1031346321105957, + 11.309131622314453 + ], + [ + 1.00107741355896, + 1.1031346321105957, + 10.962785720825195 + ], + [ + 1.00107741355896, + 0.7810457944869995, + 11.309131622314453 + ], + [ + 1.00107741355896, + 0.7810457944869995, + 10.962785720825195 + ] + ], + "center": { + "x": 1.2077867984771729, + "y": 0.9420902132987976, + "z": 11.135958671569824 + }, + "size": { + "x": 0.4134187698364258, + "y": 0.3220888376235962, + "z": 0.3463459014892578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4144978523254395, + 0.7810449600219727, + 11.309130668640137 + ], + [ + 1.0010769367218018, + 0.7810442447662354, + 11.309131622314453 + ], + [ + 1.0010764598846436, + 0.7810457348823547, + 10.962783813476562 + ], + [ + 1.4144973754882812, + 0.7810463905334473, + 10.962782859802246 + ], + [ + 1.4144973754882812, + 1.1031358242034912, + 11.30913257598877 + ], + [ + 1.0010764598846436, + 1.1031352281570435, + 11.309133529663086 + ], + [ + 1.0010758638381958, + 1.103136658668518, + 10.962784767150879 + ], + [ + 1.4144967794418335, + 1.1031373739242554, + 10.962783813476562 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.299999952316284, + "y": 0.9009997844696045, + "z": 14.100000381469727 + }, + "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": 3.299999952316284, + "y": 1.5759997367858887, + "z": 14.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|5|1|0", + "Chair|5|1|1", + "Chair|5|1|2", + "Book|surface|5|49", + "Box|surface|5|37", + "Vase|surface|5|50", + "FloorLamp|5|2|1", + "DogBed|5|4", + "Chair|5|1|4", + "Chair|5|1|3" + ], + "different_object": [ + "Painting|5|6", + "Laptop|surface|5|42", + "Painting|5|5", + "window|5|0", + "ArmChair|5|2|0" + ] +} \ No newline at end of file diff --git a/train/train950/2/1_depth_npy.npy b/train/train950/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5d93992c33d34de99385f3382b5f39773b69ee8b --- /dev/null +++ b/train/train950/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:139c7a0ede9efc126a8909b211e8edc3615f6d54a4e0791cb8929cecbf3ba126 +size 3145856 diff --git a/train/train950/2/1_semantic_sensor_npy.npy b/train/train950/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..938ce0b15ad3d381361c76913ff71d136b85d922 --- /dev/null +++ b/train/train950/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:701e71396973954927b889a9b28eb44db8f75bf2c00e168e8c31a64ee636c6ee +size 2359424 diff --git a/train/train950/2/depth_0.png b/train/train950/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..93c03d3101c3ddb40484d0b2d10a355b6bf19f2d Binary files /dev/null and b/train/train950/2/depth_0.png differ diff --git a/train/train950/2/depth_1.png b/train/train950/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9499a62e24af290c2bc05a8efd4c9b69c8c1671f Binary files /dev/null and b/train/train950/2/depth_1.png differ diff --git a/train/train950/2/mask_questions.jsonl b/train/train950/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ae48bff5aeedfd633cb010242db6aa1df2f6187 --- /dev/null +++ b/train/train950/2/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 4837, "folder_dir": "train950/2", "pair_name": "1-0:Box|surface|5|37", "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. Laptop\nB. DiningTable\nC. Box\nD. Painting", "answer": "C", "object_name": "Box", "image_1": "train950/2/rgb_1.png", "image_2": "train950/2/rgb_0.png", "mask_image": "train950/2/rgb_0_mask_Box|surface|5|37.png", "options": ["Laptop", "DiningTable", "Box", "Painting"]} +{"id": 4838, "folder_dir": "train950/2", "pair_name": "1-0:DogBed|5|4", "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. DogBed\nD. Laptop", "answer": "C", "object_name": "DogBed", "image_1": "train950/2/rgb_1.png", "image_2": "train950/2/rgb_0.png", "mask_image": "train950/2/rgb_0_mask_DogBed|5|4.png", "options": ["Window", "DiningTable", "DogBed", "Laptop"]} diff --git a/train/train950/2/rgb_0.png b/train/train950/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..aeb013f88ab9a2d207ed55c06f9ceaf0b4371ccf --- /dev/null +++ b/train/train950/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cabfc4c20d3b1d8e82cd0ae468b80c2becc6d095abe19e72016b80a2cb9bb1c +size 902194 diff --git a/train/train950/2/rgb_0_mask_Box|surface|5|37.png b/train/train950/2/rgb_0_mask_Box|surface|5|37.png new file mode 100644 index 0000000000000000000000000000000000000000..18ac36580477f25902f63f73eb50d7a76a36dbcd --- /dev/null +++ b/train/train950/2/rgb_0_mask_Box|surface|5|37.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:365943bb1c122cac3d198ad09237b584ae380ba57582cd0f23ed752ac725dee1 +size 808508 diff --git a/train/train950/2/rgb_0_mask_DogBed|5|4.png b/train/train950/2/rgb_0_mask_DogBed|5|4.png new file mode 100644 index 0000000000000000000000000000000000000000..aeba62eae5453988b0d521dfc098579fd96c0832 --- /dev/null +++ b/train/train950/2/rgb_0_mask_DogBed|5|4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60fe6e2f6db1f1cb723e6dc5b3e272a1867cf2c5d33213af42f2cc5af065a524 +size 768501 diff --git a/train/train950/2/rgb_1.png b/train/train950/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..54326c9f75ce2ccd848418f2a9d891766dd6429d --- /dev/null +++ b/train/train950/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b12a4c40592eb833b4fb14cde926cd1d99718e117cf57a302feff38599422a5 +size 703508 diff --git a/train/train950/2/semantic_0.png b/train/train950/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cc41d906e784fe73f5b7270e8795344be575cb27 Binary files /dev/null and b/train/train950/2/semantic_0.png differ diff --git a/train/train950/2/semantic_1.png b/train/train950/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f1acdccdf980aa6f5fcb60375d778778558192c6 Binary files /dev/null and b/train/train950/2/semantic_1.png differ diff --git a/train/train950/3/0.json b/train/train950/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train950/3/0.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/train950/3/0_depth_npy.npy b/train/train950/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train950/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train950/3/0_semantic_sensor_npy.npy b/train/train950/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train950/3/0_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/train950/3/1.json b/train/train950/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train950/3/1.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/train950/3/1_depth_npy.npy b/train/train950/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train950/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train950/3/1_semantic_sensor_npy.npy b/train/train950/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train950/3/1_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/train950/3/depth_0.png b/train/train950/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train950/3/depth_0.png differ diff --git a/train/train950/3/depth_1.png b/train/train950/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train950/3/depth_1.png differ diff --git a/train/train950/3/mask_questions.jsonl b/train/train950/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train950/3/questions_direction.jsonl b/train/train950/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6776604185de1618abcdfb5047c0b28edf60fe17 --- /dev/null +++ b/train/train950/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 8147, "folder_dir": "train950/3", "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": "train950/3/rgb_0.png", "image_2": "train950/3/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": 8148, "folder_dir": "train950/3", "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": "train950/3/rgb_0.png", "image_2": "train950/3/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": 8149, "folder_dir": "train950/3", "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": "train950/3/rgb_0.png", "image_2": "train950/3/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": 8150, "folder_dir": "train950/3", "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": "train950/3/rgb_1.png", "image_2": "train950/3/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": 8151, "folder_dir": "train950/3", "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": "train950/3/rgb_1.png", "image_2": "train950/3/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": 8152, "folder_dir": "train950/3", "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": "train950/3/rgb_1.png", "image_2": "train950/3/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/train950/3/rgb_0.png b/train/train950/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..77e03bb217115bce1b62cc6099fa671a854c825d --- /dev/null +++ b/train/train950/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f96d4a4a4b47fea1ad31ba4b43f2aa7f1568be4be64b940bea230b323c2772eb +size 193723 diff --git a/train/train950/3/rgb_1.png b/train/train950/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cdc80e43beafb5fc2178f5b12345388a909cef3b --- /dev/null +++ b/train/train950/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff8dec8b941bd2fe94c576ccd752f4b0e026ff16ff5368cb2b7b802aaace14a1 +size 244074 diff --git a/train/train950/3/semantic_0.png b/train/train950/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train950/3/semantic_0.png differ diff --git a/train/train950/3/semantic_1.png b/train/train950/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train950/3/semantic_1.png differ diff --git a/train/train950/4/0.json b/train/train950/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train950/4/0.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/train950/4/0_depth_npy.npy b/train/train950/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train950/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train950/4/0_semantic_sensor_npy.npy b/train/train950/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train950/4/0_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/train950/4/1.json b/train/train950/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train950/4/1.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/train950/4/1_depth_npy.npy b/train/train950/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train950/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train950/4/1_semantic_sensor_npy.npy b/train/train950/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train950/4/1_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/train950/4/depth_0.png b/train/train950/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train950/4/depth_0.png differ diff --git a/train/train950/4/depth_1.png b/train/train950/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train950/4/depth_1.png differ diff --git a/train/train950/4/mask_questions.jsonl b/train/train950/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train950/4/rgb_0.png b/train/train950/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b3dae7e39de571af9219e9d9f6ea9ff2ce689e0a --- /dev/null +++ b/train/train950/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:399c976538dad80206860c6f329e59159f8b777002c76d4878333f3abd639729 +size 242112 diff --git a/train/train950/4/rgb_1.png b/train/train950/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..615f578498e2cc7351a74e831f32062003fd577e --- /dev/null +++ b/train/train950/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:640827b942508aa2cef4b502771a81419db6ccfa3b80c570bf544bf1b50cd751 +size 198482 diff --git a/train/train950/4/semantic_0.png b/train/train950/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train950/4/semantic_0.png differ diff --git a/train/train950/4/semantic_1.png b/train/train950/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train950/4/semantic_1.png differ diff --git a/train/train950/color_to_object_id.json b/train/train950/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train950/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/train950/top_down_image.png b/train/train950/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..5850965b15ae3a4d9dc0068d72127785fdd54378 --- /dev/null +++ b/train/train950/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53d5b1238ab8d1a6d7bca603bf712c1f195a22d9790a3310a11a1640a8b34c8c +size 261786