Upload dataset files (batch 364/552)
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- .gitattributes +247 -0
- train/train1259/0/0.json +521 -0
- train/train1259/0/0_depth_npy.npy +3 -0
- train/train1259/0/0_semantic_sensor_npy.npy +3 -0
- train/train1259/0/1.json +837 -0
- train/train1259/0/1_depth_npy.npy +3 -0
- train/train1259/0/1_semantic_sensor_npy.npy +3 -0
- train/train1259/0/depth_0.png +0 -0
- train/train1259/0/depth_1.png +0 -0
- train/train1259/0/mask_questions.jsonl +0 -0
- train/train1259/0/rgb_0.png +3 -0
- train/train1259/0/rgb_1.png +3 -0
- train/train1259/0/semantic_0.png +0 -0
- train/train1259/0/semantic_1.png +0 -0
- train/train1259/1/0.json +521 -0
- train/train1259/1/0_depth_npy.npy +3 -0
- train/train1259/1/0_semantic_sensor_npy.npy +3 -0
- train/train1259/1/1.json +884 -0
- train/train1259/1/1_depth_npy.npy +3 -0
- train/train1259/1/1_semantic_sensor_npy.npy +3 -0
- train/train1259/1/depth_0.png +0 -0
- train/train1259/1/depth_1.png +0 -0
- train/train1259/1/mask_questions.jsonl +0 -0
- train/train1259/1/questions_direction.jsonl +6 -0
- train/train1259/1/rgb_0.png +3 -0
- train/train1259/1/rgb_1.png +3 -0
- train/train1259/1/semantic_0.png +0 -0
- train/train1259/1/semantic_1.png +0 -0
- train/train1259/2/0.json +837 -0
- train/train1259/2/0_depth_npy.npy +3 -0
- train/train1259/2/0_semantic_sensor_npy.npy +3 -0
- train/train1259/2/1.json +521 -0
- train/train1259/2/1_depth_npy.npy +3 -0
- train/train1259/2/1_semantic_sensor_npy.npy +3 -0
- train/train1259/2/depth_0.png +0 -0
- train/train1259/2/depth_1.png +0 -0
- train/train1259/2/mask_questions.jsonl +0 -0
- train/train1259/2/rgb_0.png +3 -0
- train/train1259/2/rgb_1.png +3 -0
- train/train1259/2/semantic_0.png +0 -0
- train/train1259/2/semantic_1.png +0 -0
- train/train1259/3/0.json +678 -0
- train/train1259/3/0_depth_npy.npy +3 -0
- train/train1259/3/0_semantic_sensor_npy.npy +3 -0
- train/train1259/3/1.json +726 -0
- train/train1259/3/1_depth_npy.npy +3 -0
- train/train1259/3/1_semantic_sensor_npy.npy +3 -0
- train/train1259/3/depth_0.png +0 -0
- train/train1259/3/depth_1.png +0 -0
- train/train1259/3/mask_questions.jsonl +1 -0
.gitattributes
CHANGED
|
@@ -53884,3 +53884,250 @@ train/train501/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
|
| 53884 |
train/train501/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53885 |
train/train501/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 53886 |
train/train501/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 53884 |
train/train501/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53885 |
train/train501/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 53886 |
train/train501/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
|
| 53887 |
+
train/train501/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53888 |
+
train/train501/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53889 |
+
train/train501/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53890 |
+
train/train501/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
|
| 53891 |
+
train/train501/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53892 |
+
train/train501/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
|
| 53893 |
+
train/train501/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53894 |
+
train/train501/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 53895 |
+
train/train501/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53896 |
+
train/train501/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53897 |
+
train/train501/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53898 |
+
train/train501/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53899 |
+
train/train501/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53900 |
+
train/train501/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53901 |
+
train/train501/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53902 |
+
train/train501/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53903 |
+
train/train501/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53904 |
+
train/train501/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53905 |
+
train/train501/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53906 |
+
train/train501/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53907 |
+
train/train501/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53908 |
+
train/train1633/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53909 |
+
train/train1633/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53910 |
+
train/train1633/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53911 |
+
train/train1633/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53912 |
+
train/train1633/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53913 |
+
train/train1633/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53914 |
+
train/train1633/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53915 |
+
train/train1633/4/rgb_1_mask_Toilet|5|0.png filter=lfs diff=lfs merge=lfs -text
|
| 53916 |
+
train/train1633/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53917 |
+
train/train1633/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53918 |
+
train/train1633/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53919 |
+
train/train1633/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53920 |
+
train/train1633/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53921 |
+
train/train1633/0/rgb_0_mask_Painting|4|4.png filter=lfs diff=lfs merge=lfs -text
|
| 53922 |
+
train/train1633/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53923 |
+
train/train1633/0/rgb_1_mask_Painting|4|4.png filter=lfs diff=lfs merge=lfs -text
|
| 53924 |
+
train/train1633/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53925 |
+
train/train1633/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53926 |
+
train/train1633/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53927 |
+
train/train1633/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53928 |
+
train/train1633/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53929 |
+
train/train1633/0/rgb_0_mask_Bed|4|0|0.png filter=lfs diff=lfs merge=lfs -text
|
| 53930 |
+
train/train1633/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53931 |
+
train/train1633/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53932 |
+
train/train1633/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53933 |
+
train/train1633/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53934 |
+
train/train1633/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53935 |
+
train/train1633/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53936 |
+
train/train1633/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53937 |
+
train/train1633/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53938 |
+
train/train1633/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53939 |
+
train/train1633/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53940 |
+
train/train1633/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53941 |
+
train/train1633/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53942 |
+
train/train165/top_down_image.png filter=lfs diff=lfs merge=lfs -text
|
| 53943 |
+
train/train165/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53944 |
+
train/train165/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53945 |
+
train/train165/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53946 |
+
train/train165/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53947 |
+
train/train165/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53948 |
+
train/train165/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53949 |
+
train/train165/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53950 |
+
train/train165/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53951 |
+
train/train165/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53952 |
+
train/train165/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53953 |
+
train/train165/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53954 |
+
train/train165/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53955 |
+
train/train165/0/rgb_0_mask_Chair|2|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 53956 |
+
train/train165/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53957 |
+
train/train165/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53958 |
+
train/train165/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53959 |
+
train/train165/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53960 |
+
train/train165/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53961 |
+
train/train165/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53962 |
+
train/train165/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53963 |
+
train/train165/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53964 |
+
train/train165/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53965 |
+
train/train165/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53966 |
+
train/train165/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53967 |
+
train/train165/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53968 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___0.png filter=lfs diff=lfs merge=lfs -text
|
| 53969 |
+
train/train1731/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53970 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___5.png filter=lfs diff=lfs merge=lfs -text
|
| 53971 |
+
train/train1731/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53972 |
+
train/train1731/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53973 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___9.png filter=lfs diff=lfs merge=lfs -text
|
| 53974 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___1.png filter=lfs diff=lfs merge=lfs -text
|
| 53975 |
+
train/train1731/3/rgb_0_mask_ArmChair|5|2|0.png filter=lfs diff=lfs merge=lfs -text
|
| 53976 |
+
train/train1731/3/rgb_0_mask_Dresser|5|1___9.png filter=lfs diff=lfs merge=lfs -text
|
| 53977 |
+
train/train1731/3/rgb_1_mask_ArmChair|5|2|0.png filter=lfs diff=lfs merge=lfs -text
|
| 53978 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___4.png filter=lfs diff=lfs merge=lfs -text
|
| 53979 |
+
train/train1731/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53980 |
+
train/train1731/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53981 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___3.png filter=lfs diff=lfs merge=lfs -text
|
| 53982 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___7.png filter=lfs diff=lfs merge=lfs -text
|
| 53983 |
+
train/train1731/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53984 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___8.png filter=lfs diff=lfs merge=lfs -text
|
| 53985 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___2.png filter=lfs diff=lfs merge=lfs -text
|
| 53986 |
+
train/train1731/3/rgb_1_mask_Dresser|5|1___6.png filter=lfs diff=lfs merge=lfs -text
|
| 53987 |
+
train/train1731/4/rgb_0_mask_FloorLamp|5|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 53988 |
+
train/train1731/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53989 |
+
train/train1731/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 53990 |
+
train/train1731/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53991 |
+
train/train1731/4/rgb_0_mask_ArmChair|5|2|0.png filter=lfs diff=lfs merge=lfs -text
|
| 53992 |
+
train/train1731/4/rgb_1_mask_ArmChair|5|2|0.png filter=lfs diff=lfs merge=lfs -text
|
| 53993 |
+
train/train1731/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53994 |
+
train/train1731/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53995 |
+
train/train1731/4/rgb_1_mask_Painting|5|6.png filter=lfs diff=lfs merge=lfs -text
|
| 53996 |
+
train/train1731/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 53997 |
+
train/train1731/4/rgb_0_mask_Painting|5|6.png filter=lfs diff=lfs merge=lfs -text
|
| 53998 |
+
train/train1731/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 53999 |
+
train/train1731/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54000 |
+
train/train1731/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54001 |
+
train/train1731/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54002 |
+
train/train1731/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54003 |
+
train/train1731/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54004 |
+
train/train1731/0/rgb_1_mask_door|2|5.png filter=lfs diff=lfs merge=lfs -text
|
| 54005 |
+
train/train1731/0/rgb_1_mask_Boots|5|3.png filter=lfs diff=lfs merge=lfs -text
|
| 54006 |
+
train/train1731/1/rgb_0_mask_FloorLamp|5|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 54007 |
+
train/train1731/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54008 |
+
train/train1731/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54009 |
+
train/train1731/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54010 |
+
train/train1731/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54011 |
+
train/train1731/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54012 |
+
train/train1731/1/rgb_1_mask_Painting|5|6.png filter=lfs diff=lfs merge=lfs -text
|
| 54013 |
+
train/train1731/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54014 |
+
train/train1731/1/rgb_0_mask_Painting|5|6.png filter=lfs diff=lfs merge=lfs -text
|
| 54015 |
+
train/train1731/1/rgb_1_mask_FloorLamp|5|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 54016 |
+
train/train1731/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54017 |
+
train/train1731/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54018 |
+
train/train1731/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54019 |
+
train/train1731/2/rgb_0_mask_door|2|5.png filter=lfs diff=lfs merge=lfs -text
|
| 54020 |
+
train/train1731/2/rgb_0_mask_Boots|5|3.png filter=lfs diff=lfs merge=lfs -text
|
| 54021 |
+
train/train1731/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54022 |
+
train/train1731/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54023 |
+
train/train1731/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54024 |
+
train/train2219/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54025 |
+
train/train2219/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54026 |
+
train/train2219/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54027 |
+
train/train2219/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54028 |
+
train/train2219/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54029 |
+
train/train2219/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54030 |
+
train/train2219/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54031 |
+
train/train2219/4/rgb_1_mask_Toilet|5|0.png filter=lfs diff=lfs merge=lfs -text
|
| 54032 |
+
train/train2219/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54033 |
+
train/train2219/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54034 |
+
train/train2219/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54035 |
+
train/train2219/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54036 |
+
train/train2219/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54037 |
+
train/train2219/0/rgb_1_mask_GarbageCan|5|2.png filter=lfs diff=lfs merge=lfs -text
|
| 54038 |
+
train/train2219/0/rgb_1_mask_door|4|5.png filter=lfs diff=lfs merge=lfs -text
|
| 54039 |
+
train/train2219/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54040 |
+
train/train2219/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54041 |
+
train/train2219/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54042 |
+
train/train2219/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54043 |
+
train/train2219/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54044 |
+
train/train2219/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54045 |
+
train/train2219/0/rgb_0_mask_GarbageCan|5|2.png filter=lfs diff=lfs merge=lfs -text
|
| 54046 |
+
train/train2219/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54047 |
+
train/train2219/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54048 |
+
train/train2219/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54049 |
+
train/train2219/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54050 |
+
train/train2219/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54051 |
+
train/train2219/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54052 |
+
train/train2219/1/rgb_0_mask_GarbageCan|5|2.png filter=lfs diff=lfs merge=lfs -text
|
| 54053 |
+
train/train2219/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54054 |
+
train/train2219/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54055 |
+
train/train2219/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54056 |
+
train/train2219/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54057 |
+
train/train2219/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54058 |
+
train/train2219/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54059 |
+
train/train837/top_down_image.png filter=lfs diff=lfs merge=lfs -text
|
| 54060 |
+
train/train837/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54061 |
+
train/train837/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54062 |
+
train/train837/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54063 |
+
train/train837/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54064 |
+
train/train837/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54065 |
+
train/train837/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54066 |
+
train/train837/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54067 |
+
train/train837/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54068 |
+
train/train837/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54069 |
+
train/train837/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54070 |
+
train/train837/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54071 |
+
train/train837/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54072 |
+
train/train837/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 54073 |
+
train/train837/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
|
| 54074 |
+
train/train837/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54075 |
+
train/train837/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54076 |
+
train/train837/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54077 |
+
train/train837/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
|
| 54078 |
+
train/train837/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54079 |
+
train/train837/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
|
| 54080 |
+
train/train837/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54081 |
+
train/train837/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 54082 |
+
train/train837/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54083 |
+
train/train837/2/rgb_1_mask_Painting|2|4.png filter=lfs diff=lfs merge=lfs -text
|
| 54084 |
+
train/train837/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54085 |
+
train/train837/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54086 |
+
train/train837/2/rgb_0_mask_Painting|2|4.png filter=lfs diff=lfs merge=lfs -text
|
| 54087 |
+
train/train837/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54088 |
+
train/train837/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54089 |
+
train/train837/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54090 |
+
train/train837/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54091 |
+
train/train1259/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54092 |
+
train/train1259/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54093 |
+
train/train1259/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54094 |
+
train/train1259/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54095 |
+
train/train1259/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54096 |
+
train/train1259/3/rgb_0_mask_Plunger|5|3.png filter=lfs diff=lfs merge=lfs -text
|
| 54097 |
+
train/train1259/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54098 |
+
train/train1259/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54099 |
+
train/train1259/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54100 |
+
train/train1259/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54101 |
+
train/train1259/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54102 |
+
train/train1259/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54103 |
+
train/train1259/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54104 |
+
train/train1259/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54105 |
+
train/train1259/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54106 |
+
train/train1259/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54107 |
+
train/train1259/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54108 |
+
train/train1259/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54109 |
+
train/train1259/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54110 |
+
train/train1259/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54111 |
+
train/train1259/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54112 |
+
train/train1259/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54113 |
+
train/train1259/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54114 |
+
train/train1259/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54115 |
+
train/train1259/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54116 |
+
train/train616/top_down_image.png filter=lfs diff=lfs merge=lfs -text
|
| 54117 |
+
train/train616/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54118 |
+
train/train616/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54119 |
+
train/train616/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54120 |
+
train/train616/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54121 |
+
train/train616/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54122 |
+
train/train616/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54123 |
+
train/train616/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54124 |
+
train/train616/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54125 |
+
train/train616/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54126 |
+
train/train616/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54127 |
+
train/train616/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54128 |
+
train/train616/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
|
| 54129 |
+
train/train616/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
|
| 54130 |
+
train/train616/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
|
| 54131 |
+
train/train616/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
| 54132 |
+
train/train616/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
|
| 54133 |
+
train/train616/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
|
train/train1259/0/0.json
ADDED
|
@@ -0,0 +1,521 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object": [
|
| 3 |
+
{
|
| 4 |
+
"objectId": "Faucet|5|1|1",
|
| 5 |
+
"object_info": {
|
| 6 |
+
"name": "Faucet|5|1|1",
|
| 7 |
+
"position": {
|
| 8 |
+
"x": 3.7983078956604004,
|
| 9 |
+
"y": 0.985598623752594,
|
| 10 |
+
"z": 11.123241424560547
|
| 11 |
+
},
|
| 12 |
+
"rotation": {
|
| 13 |
+
"x": 0.0,
|
| 14 |
+
"y": 270.0,
|
| 15 |
+
"z": 0.0
|
| 16 |
+
},
|
| 17 |
+
"visible": false,
|
| 18 |
+
"isInteractable": false,
|
| 19 |
+
"receptacle": false,
|
| 20 |
+
"toggleable": true,
|
| 21 |
+
"isToggled": false,
|
| 22 |
+
"breakable": false,
|
| 23 |
+
"isBroken": false,
|
| 24 |
+
"canFillWithLiquid": false,
|
| 25 |
+
"isFilledWithLiquid": false,
|
| 26 |
+
"fillLiquid": null,
|
| 27 |
+
"dirtyable": false,
|
| 28 |
+
"isDirty": false,
|
| 29 |
+
"canBeUsedUp": false,
|
| 30 |
+
"isUsedUp": false,
|
| 31 |
+
"cookable": false,
|
| 32 |
+
"isCooked": false,
|
| 33 |
+
"temperature": "RoomTemp",
|
| 34 |
+
"isHeatSource": false,
|
| 35 |
+
"isColdSource": false,
|
| 36 |
+
"sliceable": false,
|
| 37 |
+
"isSliced": false,
|
| 38 |
+
"openable": false,
|
| 39 |
+
"isOpen": false,
|
| 40 |
+
"openness": 0.0,
|
| 41 |
+
"pickupable": false,
|
| 42 |
+
"isPickedUp": false,
|
| 43 |
+
"moveable": false,
|
| 44 |
+
"mass": 0.0,
|
| 45 |
+
"salientMaterials": null,
|
| 46 |
+
"receptacleObjectIds": null,
|
| 47 |
+
"distance": 2.614887237548828,
|
| 48 |
+
"objectType": "Faucet",
|
| 49 |
+
"objectId": "Faucet|5|1|1",
|
| 50 |
+
"assetId": "Bathroom_Faucet_19",
|
| 51 |
+
"parentReceptacles": [
|
| 52 |
+
"Sink|5|1|0"
|
| 53 |
+
],
|
| 54 |
+
"controlledObjects": [],
|
| 55 |
+
"isMoving": false,
|
| 56 |
+
"axisAlignedBoundingBox": {
|
| 57 |
+
"cornerPoints": [
|
| 58 |
+
[
|
| 59 |
+
3.819999933242798,
|
| 60 |
+
1.190291404724121,
|
| 61 |
+
11.1426362991333
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
3.819999933242798,
|
| 65 |
+
1.190291404724121,
|
| 66 |
+
11.070446968078613
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
3.819999933242798,
|
| 70 |
+
0.9855985641479492,
|
| 71 |
+
11.1426362991333
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
3.819999933242798,
|
| 75 |
+
0.9855985641479492,
|
| 76 |
+
11.070446968078613
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
3.604583978652954,
|
| 80 |
+
1.190291404724121,
|
| 81 |
+
11.1426362991333
|
| 82 |
+
],
|
| 83 |
+
[
|
| 84 |
+
3.604583978652954,
|
| 85 |
+
1.190291404724121,
|
| 86 |
+
11.070446968078613
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
3.604583978652954,
|
| 90 |
+
0.9855985641479492,
|
| 91 |
+
11.1426362991333
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
3.604583978652954,
|
| 95 |
+
0.9855985641479492,
|
| 96 |
+
11.070446968078613
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"center": {
|
| 100 |
+
"x": 3.712291955947876,
|
| 101 |
+
"y": 1.0879449844360352,
|
| 102 |
+
"z": 11.106541633605957
|
| 103 |
+
},
|
| 104 |
+
"size": {
|
| 105 |
+
"x": 0.21541595458984375,
|
| 106 |
+
"y": 0.20469284057617188,
|
| 107 |
+
"z": 0.0721893310546875
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"objectOrientedBoundingBox": null
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"objectId": "GarbageCan|5|2",
|
| 115 |
+
"object_info": {
|
| 116 |
+
"name": "GarbageCan|5|2",
|
| 117 |
+
"position": {
|
| 118 |
+
"x": 3.636021614074707,
|
| 119 |
+
"y": -0.032638683915138245,
|
| 120 |
+
"z": 9.863131523132324
|
| 121 |
+
},
|
| 122 |
+
"rotation": {
|
| 123 |
+
"x": -3.652619489002973e-05,
|
| 124 |
+
"y": 270.0002746582031,
|
| 125 |
+
"z": 1.1019371413567569e-05
|
| 126 |
+
},
|
| 127 |
+
"visible": false,
|
| 128 |
+
"isInteractable": false,
|
| 129 |
+
"receptacle": true,
|
| 130 |
+
"toggleable": false,
|
| 131 |
+
"isToggled": false,
|
| 132 |
+
"breakable": false,
|
| 133 |
+
"isBroken": false,
|
| 134 |
+
"canFillWithLiquid": false,
|
| 135 |
+
"isFilledWithLiquid": false,
|
| 136 |
+
"fillLiquid": null,
|
| 137 |
+
"dirtyable": false,
|
| 138 |
+
"isDirty": false,
|
| 139 |
+
"canBeUsedUp": false,
|
| 140 |
+
"isUsedUp": false,
|
| 141 |
+
"cookable": false,
|
| 142 |
+
"isCooked": false,
|
| 143 |
+
"temperature": "RoomTemp",
|
| 144 |
+
"isHeatSource": false,
|
| 145 |
+
"isColdSource": false,
|
| 146 |
+
"sliceable": false,
|
| 147 |
+
"isSliced": false,
|
| 148 |
+
"openable": false,
|
| 149 |
+
"isOpen": false,
|
| 150 |
+
"openness": 0.0,
|
| 151 |
+
"pickupable": false,
|
| 152 |
+
"isPickedUp": false,
|
| 153 |
+
"moveable": true,
|
| 154 |
+
"mass": 0.699999988079071,
|
| 155 |
+
"salientMaterials": [
|
| 156 |
+
"Plastic"
|
| 157 |
+
],
|
| 158 |
+
"receptacleObjectIds": [],
|
| 159 |
+
"distance": 2.135561466217041,
|
| 160 |
+
"objectType": "GarbageCan",
|
| 161 |
+
"objectId": "GarbageCan|5|2",
|
| 162 |
+
"assetId": "bin_17",
|
| 163 |
+
"parentReceptacles": [
|
| 164 |
+
"Floor"
|
| 165 |
+
],
|
| 166 |
+
"controlledObjects": null,
|
| 167 |
+
"isMoving": false,
|
| 168 |
+
"axisAlignedBoundingBox": {
|
| 169 |
+
"cornerPoints": [
|
| 170 |
+
[
|
| 171 |
+
3.82499361038208,
|
| 172 |
+
0.5611541271209717,
|
| 173 |
+
10.145074844360352
|
| 174 |
+
],
|
| 175 |
+
[
|
| 176 |
+
3.82499361038208,
|
| 177 |
+
0.5611541271209717,
|
| 178 |
+
9.577098846435547
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
3.82499361038208,
|
| 182 |
+
3.2782554626464844e-07,
|
| 183 |
+
10.145074844360352
|
| 184 |
+
],
|
| 185 |
+
[
|
| 186 |
+
3.82499361038208,
|
| 187 |
+
3.2782554626464844e-07,
|
| 188 |
+
9.577098846435547
|
| 189 |
+
],
|
| 190 |
+
[
|
| 191 |
+
3.4075722694396973,
|
| 192 |
+
0.5611541271209717,
|
| 193 |
+
10.145074844360352
|
| 194 |
+
],
|
| 195 |
+
[
|
| 196 |
+
3.4075722694396973,
|
| 197 |
+
0.5611541271209717,
|
| 198 |
+
9.577098846435547
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
3.4075722694396973,
|
| 202 |
+
3.2782554626464844e-07,
|
| 203 |
+
10.145074844360352
|
| 204 |
+
],
|
| 205 |
+
[
|
| 206 |
+
3.4075722694396973,
|
| 207 |
+
3.2782554626464844e-07,
|
| 208 |
+
9.577098846435547
|
| 209 |
+
]
|
| 210 |
+
],
|
| 211 |
+
"center": {
|
| 212 |
+
"x": 3.6162829399108887,
|
| 213 |
+
"y": 0.2805772125720978,
|
| 214 |
+
"z": 9.86108684539795
|
| 215 |
+
},
|
| 216 |
+
"size": {
|
| 217 |
+
"x": 0.4174213409423828,
|
| 218 |
+
"y": 0.561153769493103,
|
| 219 |
+
"z": 0.5679759979248047
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"objectOrientedBoundingBox": {
|
| 223 |
+
"cornerPoints": [
|
| 224 |
+
[
|
| 225 |
+
3.40757155418396,
|
| 226 |
+
-1.8998980522155762e-06,
|
| 227 |
+
10.145078659057617
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
3.40756893157959,
|
| 231 |
+
-2.0116567611694336e-06,
|
| 232 |
+
9.57709789276123
|
| 233 |
+
],
|
| 234 |
+
[
|
| 235 |
+
3.8249926567077637,
|
| 236 |
+
-2.2761523723602295e-06,
|
| 237 |
+
9.577095985412598
|
| 238 |
+
],
|
| 239 |
+
[
|
| 240 |
+
3.824995279312134,
|
| 241 |
+
-2.164393663406372e-06,
|
| 242 |
+
10.145075798034668
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
3.407571792602539,
|
| 246 |
+
0.5611568093299866,
|
| 247 |
+
10.1450777053833
|
| 248 |
+
],
|
| 249 |
+
[
|
| 250 |
+
3.407569169998169,
|
| 251 |
+
0.561156690120697,
|
| 252 |
+
9.57709789276123
|
| 253 |
+
],
|
| 254 |
+
[
|
| 255 |
+
3.824993133544922,
|
| 256 |
+
0.5611564517021179,
|
| 257 |
+
9.577095985412598
|
| 258 |
+
],
|
| 259 |
+
[
|
| 260 |
+
3.824995756149292,
|
| 261 |
+
0.5611565709114075,
|
| 262 |
+
10.145075798034668
|
| 263 |
+
]
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"objectId": "Sink|5|1|0",
|
| 270 |
+
"object_info": {
|
| 271 |
+
"name": "Sink|5|1|0",
|
| 272 |
+
"position": {
|
| 273 |
+
"x": 3.535754919052124,
|
| 274 |
+
"y": 0.0,
|
| 275 |
+
"z": 11.106541633605957
|
| 276 |
+
},
|
| 277 |
+
"rotation": {
|
| 278 |
+
"x": 0.0,
|
| 279 |
+
"y": 270.0,
|
| 280 |
+
"z": 0.0
|
| 281 |
+
},
|
| 282 |
+
"visible": false,
|
| 283 |
+
"isInteractable": false,
|
| 284 |
+
"receptacle": true,
|
| 285 |
+
"toggleable": false,
|
| 286 |
+
"isToggled": false,
|
| 287 |
+
"breakable": false,
|
| 288 |
+
"isBroken": false,
|
| 289 |
+
"canFillWithLiquid": false,
|
| 290 |
+
"isFilledWithLiquid": false,
|
| 291 |
+
"fillLiquid": null,
|
| 292 |
+
"dirtyable": false,
|
| 293 |
+
"isDirty": false,
|
| 294 |
+
"canBeUsedUp": false,
|
| 295 |
+
"isUsedUp": false,
|
| 296 |
+
"cookable": false,
|
| 297 |
+
"isCooked": false,
|
| 298 |
+
"temperature": "RoomTemp",
|
| 299 |
+
"isHeatSource": false,
|
| 300 |
+
"isColdSource": false,
|
| 301 |
+
"sliceable": false,
|
| 302 |
+
"isSliced": false,
|
| 303 |
+
"openable": false,
|
| 304 |
+
"isOpen": false,
|
| 305 |
+
"openness": 0.0,
|
| 306 |
+
"pickupable": false,
|
| 307 |
+
"isPickedUp": false,
|
| 308 |
+
"moveable": false,
|
| 309 |
+
"mass": 0.0,
|
| 310 |
+
"salientMaterials": null,
|
| 311 |
+
"receptacleObjectIds": [
|
| 312 |
+
"Faucet|5|1|1"
|
| 313 |
+
],
|
| 314 |
+
"distance": 2.5654819011688232,
|
| 315 |
+
"objectType": "Sink",
|
| 316 |
+
"objectId": "Sink|5|1|0",
|
| 317 |
+
"assetId": "Sink_26",
|
| 318 |
+
"parentReceptacles": [
|
| 319 |
+
"Floor"
|
| 320 |
+
],
|
| 321 |
+
"controlledObjects": null,
|
| 322 |
+
"isMoving": false,
|
| 323 |
+
"axisAlignedBoundingBox": {
|
| 324 |
+
"cornerPoints": [
|
| 325 |
+
[
|
| 326 |
+
3.825000047683716,
|
| 327 |
+
0.9855988025665283,
|
| 328 |
+
11.52400016784668
|
| 329 |
+
],
|
| 330 |
+
[
|
| 331 |
+
3.825000047683716,
|
| 332 |
+
0.9855988025665283,
|
| 333 |
+
10.689083099365234
|
| 334 |
+
],
|
| 335 |
+
[
|
| 336 |
+
3.825000047683716,
|
| 337 |
+
0.0,
|
| 338 |
+
11.52400016784668
|
| 339 |
+
],
|
| 340 |
+
[
|
| 341 |
+
3.825000047683716,
|
| 342 |
+
0.0,
|
| 343 |
+
10.689083099365234
|
| 344 |
+
],
|
| 345 |
+
[
|
| 346 |
+
3.18265700340271,
|
| 347 |
+
0.9855988025665283,
|
| 348 |
+
11.52400016784668
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
3.18265700340271,
|
| 352 |
+
0.9855988025665283,
|
| 353 |
+
10.689083099365234
|
| 354 |
+
],
|
| 355 |
+
[
|
| 356 |
+
3.18265700340271,
|
| 357 |
+
0.0,
|
| 358 |
+
11.52400016784668
|
| 359 |
+
],
|
| 360 |
+
[
|
| 361 |
+
3.18265700340271,
|
| 362 |
+
0.0,
|
| 363 |
+
10.689083099365234
|
| 364 |
+
]
|
| 365 |
+
],
|
| 366 |
+
"center": {
|
| 367 |
+
"x": 3.503828525543213,
|
| 368 |
+
"y": 0.49279940128326416,
|
| 369 |
+
"z": 11.106541633605957
|
| 370 |
+
},
|
| 371 |
+
"size": {
|
| 372 |
+
"x": 0.6423430442810059,
|
| 373 |
+
"y": 0.9855988025665283,
|
| 374 |
+
"z": 0.8349170684814453
|
| 375 |
+
}
|
| 376 |
+
},
|
| 377 |
+
"objectOrientedBoundingBox": null
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"objectId": "Sink|5|1|0___0",
|
| 382 |
+
"object_info": {
|
| 383 |
+
"name": "SinkBasin",
|
| 384 |
+
"position": {
|
| 385 |
+
"x": 3.457854986190796,
|
| 386 |
+
"y": 0.9014000296592712,
|
| 387 |
+
"z": 11.095341682434082
|
| 388 |
+
},
|
| 389 |
+
"rotation": {
|
| 390 |
+
"x": 1.4033420794510015e-14,
|
| 391 |
+
"y": 270.0,
|
| 392 |
+
"z": 0.0
|
| 393 |
+
},
|
| 394 |
+
"visible": false,
|
| 395 |
+
"isInteractable": false,
|
| 396 |
+
"receptacle": true,
|
| 397 |
+
"toggleable": false,
|
| 398 |
+
"isToggled": false,
|
| 399 |
+
"breakable": false,
|
| 400 |
+
"isBroken": false,
|
| 401 |
+
"canFillWithLiquid": false,
|
| 402 |
+
"isFilledWithLiquid": false,
|
| 403 |
+
"fillLiquid": null,
|
| 404 |
+
"dirtyable": false,
|
| 405 |
+
"isDirty": false,
|
| 406 |
+
"canBeUsedUp": false,
|
| 407 |
+
"isUsedUp": false,
|
| 408 |
+
"cookable": false,
|
| 409 |
+
"isCooked": false,
|
| 410 |
+
"temperature": "RoomTemp",
|
| 411 |
+
"isHeatSource": false,
|
| 412 |
+
"isColdSource": false,
|
| 413 |
+
"sliceable": false,
|
| 414 |
+
"isSliced": false,
|
| 415 |
+
"openable": false,
|
| 416 |
+
"isOpen": false,
|
| 417 |
+
"openness": 0.0,
|
| 418 |
+
"pickupable": false,
|
| 419 |
+
"isPickedUp": false,
|
| 420 |
+
"moveable": false,
|
| 421 |
+
"mass": 0.0,
|
| 422 |
+
"salientMaterials": null,
|
| 423 |
+
"receptacleObjectIds": [],
|
| 424 |
+
"distance": 2.3370673656463623,
|
| 425 |
+
"objectType": "SinkBasin",
|
| 426 |
+
"objectId": "Sink|5|1|0___0",
|
| 427 |
+
"assetId": "",
|
| 428 |
+
"parentReceptacles": null,
|
| 429 |
+
"controlledObjects": null,
|
| 430 |
+
"isMoving": false,
|
| 431 |
+
"axisAlignedBoundingBox": {
|
| 432 |
+
"cornerPoints": [
|
| 433 |
+
[
|
| 434 |
+
3.604801654815674,
|
| 435 |
+
1.0298691987991333,
|
| 436 |
+
11.469036102294922
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
3.604801654815674,
|
| 440 |
+
1.0298691987991333,
|
| 441 |
+
10.744049072265625
|
| 442 |
+
],
|
| 443 |
+
[
|
| 444 |
+
3.604801654815674,
|
| 445 |
+
0.8825722932815552,
|
| 446 |
+
11.469036102294922
|
| 447 |
+
],
|
| 448 |
+
[
|
| 449 |
+
3.604801654815674,
|
| 450 |
+
0.8825722932815552,
|
| 451 |
+
10.744049072265625
|
| 452 |
+
],
|
| 453 |
+
[
|
| 454 |
+
3.2320265769958496,
|
| 455 |
+
1.0298691987991333,
|
| 456 |
+
11.469036102294922
|
| 457 |
+
],
|
| 458 |
+
[
|
| 459 |
+
3.2320265769958496,
|
| 460 |
+
1.0298691987991333,
|
| 461 |
+
10.744049072265625
|
| 462 |
+
],
|
| 463 |
+
[
|
| 464 |
+
3.2320265769958496,
|
| 465 |
+
0.8825722932815552,
|
| 466 |
+
11.469036102294922
|
| 467 |
+
],
|
| 468 |
+
[
|
| 469 |
+
3.2320265769958496,
|
| 470 |
+
0.8825722932815552,
|
| 471 |
+
10.744049072265625
|
| 472 |
+
]
|
| 473 |
+
],
|
| 474 |
+
"center": {
|
| 475 |
+
"x": 3.4184141159057617,
|
| 476 |
+
"y": 0.9562207460403442,
|
| 477 |
+
"z": 11.106542587280273
|
| 478 |
+
},
|
| 479 |
+
"size": {
|
| 480 |
+
"x": 0.3727750778198242,
|
| 481 |
+
"y": 0.14729690551757812,
|
| 482 |
+
"z": 0.7249870300292969
|
| 483 |
+
}
|
| 484 |
+
},
|
| 485 |
+
"objectOrientedBoundingBox": null
|
| 486 |
+
}
|
| 487 |
+
}
|
| 488 |
+
],
|
| 489 |
+
"Agent": {
|
| 490 |
+
"agent_position": {
|
| 491 |
+
"x": 1.5,
|
| 492 |
+
"y": 0.9009997844696045,
|
| 493 |
+
"z": 9.699999809265137
|
| 494 |
+
},
|
| 495 |
+
"agent_rotation": {
|
| 496 |
+
"x": -0.0,
|
| 497 |
+
"y": 90.0,
|
| 498 |
+
"z": -0.0
|
| 499 |
+
},
|
| 500 |
+
"agent_cameraHorizon": 1.530945155536756e-06,
|
| 501 |
+
"agent_isStanding": true,
|
| 502 |
+
"agent_inHighFrictionArea": false
|
| 503 |
+
},
|
| 504 |
+
"camera_info": {
|
| 505 |
+
"cameraPosition": {
|
| 506 |
+
"x": 1.5,
|
| 507 |
+
"y": 1.5759997367858887,
|
| 508 |
+
"z": 9.699999809265137
|
| 509 |
+
},
|
| 510 |
+
"cameraOrthSize": -1.0,
|
| 511 |
+
"fov": 90.0
|
| 512 |
+
},
|
| 513 |
+
"common_object": [
|
| 514 |
+
"Sink|5|1|0",
|
| 515 |
+
"Sink|5|1|0___0"
|
| 516 |
+
],
|
| 517 |
+
"different_object": [
|
| 518 |
+
"Faucet|5|1|1",
|
| 519 |
+
"GarbageCan|5|2"
|
| 520 |
+
]
|
| 521 |
+
}
|
train/train1259/0/0_depth_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:475bc4acfc5612927e20c77876a73e04ddcdf8ebe532c0dd73dc351965839960
|
| 3 |
+
size 3145856
|
train/train1259/0/0_semantic_sensor_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:69b88f3f26901267d5587678217162fc4daa83bc113f4eebbdf1e3fe601b208c
|
| 3 |
+
size 2359424
|
train/train1259/0/1.json
ADDED
|
@@ -0,0 +1,837 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object": [
|
| 3 |
+
{
|
| 4 |
+
"objectId": "ToiletPaper|surface|5|48",
|
| 5 |
+
"object_info": {
|
| 6 |
+
"name": "ToiletPaper|surface|5|48",
|
| 7 |
+
"position": {
|
| 8 |
+
"x": 0.22087982296943665,
|
| 9 |
+
"y": 1.0354818105697632,
|
| 10 |
+
"z": 11.313288688659668
|
| 11 |
+
},
|
| 12 |
+
"rotation": {
|
| 13 |
+
"x": 0.1303512006998062,
|
| 14 |
+
"y": 179.99574279785156,
|
| 15 |
+
"z": 0.15781132876873016
|
| 16 |
+
},
|
| 17 |
+
"visible": false,
|
| 18 |
+
"isInteractable": false,
|
| 19 |
+
"receptacle": false,
|
| 20 |
+
"toggleable": false,
|
| 21 |
+
"isToggled": false,
|
| 22 |
+
"breakable": false,
|
| 23 |
+
"isBroken": false,
|
| 24 |
+
"canFillWithLiquid": false,
|
| 25 |
+
"isFilledWithLiquid": false,
|
| 26 |
+
"fillLiquid": null,
|
| 27 |
+
"dirtyable": false,
|
| 28 |
+
"isDirty": false,
|
| 29 |
+
"canBeUsedUp": false,
|
| 30 |
+
"isUsedUp": false,
|
| 31 |
+
"cookable": false,
|
| 32 |
+
"isCooked": false,
|
| 33 |
+
"temperature": "RoomTemp",
|
| 34 |
+
"isHeatSource": false,
|
| 35 |
+
"isColdSource": false,
|
| 36 |
+
"sliceable": false,
|
| 37 |
+
"isSliced": false,
|
| 38 |
+
"openable": false,
|
| 39 |
+
"isOpen": false,
|
| 40 |
+
"openness": 0.0,
|
| 41 |
+
"pickupable": true,
|
| 42 |
+
"isPickedUp": false,
|
| 43 |
+
"moveable": false,
|
| 44 |
+
"mass": 0.20000000298023224,
|
| 45 |
+
"salientMaterials": [
|
| 46 |
+
"Paper"
|
| 47 |
+
],
|
| 48 |
+
"receptacleObjectIds": null,
|
| 49 |
+
"distance": 2.3757755756378174,
|
| 50 |
+
"objectType": "ToiletPaper",
|
| 51 |
+
"objectId": "ToiletPaper|surface|5|48",
|
| 52 |
+
"assetId": "Toilet_Paper",
|
| 53 |
+
"parentReceptacles": [
|
| 54 |
+
"Toilet|5|0"
|
| 55 |
+
],
|
| 56 |
+
"controlledObjects": null,
|
| 57 |
+
"isMoving": false,
|
| 58 |
+
"axisAlignedBoundingBox": {
|
| 59 |
+
"cornerPoints": [
|
| 60 |
+
[
|
| 61 |
+
0.27252668142318726,
|
| 62 |
+
1.1560850143432617,
|
| 63 |
+
11.365324020385742
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.27252668142318726,
|
| 67 |
+
1.1560850143432617,
|
| 68 |
+
11.26097297668457
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
0.27252668142318726,
|
| 72 |
+
1.0374767780303955,
|
| 73 |
+
11.365324020385742
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.27252668142318726,
|
| 77 |
+
1.0374767780303955,
|
| 78 |
+
11.26097297668457
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.16816958785057068,
|
| 82 |
+
1.1560850143432617,
|
| 83 |
+
11.365324020385742
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
0.16816958785057068,
|
| 87 |
+
1.1560850143432617,
|
| 88 |
+
11.26097297668457
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.16816958785057068,
|
| 92 |
+
1.0374767780303955,
|
| 93 |
+
11.365324020385742
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.16816958785057068,
|
| 97 |
+
1.0374767780303955,
|
| 98 |
+
11.26097297668457
|
| 99 |
+
]
|
| 100 |
+
],
|
| 101 |
+
"center": {
|
| 102 |
+
"x": 0.22034813463687897,
|
| 103 |
+
"y": 1.0967808961868286,
|
| 104 |
+
"z": 11.313148498535156
|
| 105 |
+
},
|
| 106 |
+
"size": {
|
| 107 |
+
"x": 0.10435709357261658,
|
| 108 |
+
"y": 0.11860823631286621,
|
| 109 |
+
"z": 0.10435104370117188
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"objectOrientedBoundingBox": {
|
| 113 |
+
"cornerPoints": [
|
| 114 |
+
[
|
| 115 |
+
0.16802997887134552,
|
| 116 |
+
1.0375020503997803,
|
| 117 |
+
11.261120796203613
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
0.27234840393066406,
|
| 121 |
+
1.037214756011963,
|
| 122 |
+
11.261129379272461
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.27234065532684326,
|
| 126 |
+
1.037451982498169,
|
| 127 |
+
11.365447998046875
|
| 128 |
+
],
|
| 129 |
+
[
|
| 130 |
+
0.1680222451686859,
|
| 131 |
+
1.0377393960952759,
|
| 132 |
+
11.365439414978027
|
| 133 |
+
],
|
| 134 |
+
[
|
| 135 |
+
0.1683564931154251,
|
| 136 |
+
1.1560392379760742,
|
| 137 |
+
11.26085090637207
|
| 138 |
+
],
|
| 139 |
+
[
|
| 140 |
+
0.27267491817474365,
|
| 141 |
+
1.1557519435882568,
|
| 142 |
+
11.260859489440918
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.27266716957092285,
|
| 146 |
+
1.1559892892837524,
|
| 147 |
+
11.365178108215332
|
| 148 |
+
],
|
| 149 |
+
[
|
| 150 |
+
0.1683487445116043,
|
| 151 |
+
1.1562765836715698,
|
| 152 |
+
11.365169525146484
|
| 153 |
+
]
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"objectId": "Plunger|5|3",
|
| 160 |
+
"object_info": {
|
| 161 |
+
"name": "Plunger|5|3",
|
| 162 |
+
"position": {
|
| 163 |
+
"x": 1.4791741371154785,
|
| 164 |
+
"y": -0.00046303868293762207,
|
| 165 |
+
"z": 11.449926376342773
|
| 166 |
+
},
|
| 167 |
+
"rotation": {
|
| 168 |
+
"x": 0.00023233394313137978,
|
| 169 |
+
"y": 179.99989318847656,
|
| 170 |
+
"z": 0.0008740525227040052
|
| 171 |
+
},
|
| 172 |
+
"visible": false,
|
| 173 |
+
"isInteractable": false,
|
| 174 |
+
"receptacle": false,
|
| 175 |
+
"toggleable": false,
|
| 176 |
+
"isToggled": false,
|
| 177 |
+
"breakable": false,
|
| 178 |
+
"isBroken": false,
|
| 179 |
+
"canFillWithLiquid": false,
|
| 180 |
+
"isFilledWithLiquid": false,
|
| 181 |
+
"fillLiquid": null,
|
| 182 |
+
"dirtyable": false,
|
| 183 |
+
"isDirty": false,
|
| 184 |
+
"canBeUsedUp": false,
|
| 185 |
+
"isUsedUp": false,
|
| 186 |
+
"cookable": false,
|
| 187 |
+
"isCooked": false,
|
| 188 |
+
"temperature": "RoomTemp",
|
| 189 |
+
"isHeatSource": false,
|
| 190 |
+
"isColdSource": false,
|
| 191 |
+
"sliceable": false,
|
| 192 |
+
"isSliced": false,
|
| 193 |
+
"openable": false,
|
| 194 |
+
"isOpen": false,
|
| 195 |
+
"openness": 0.0,
|
| 196 |
+
"pickupable": true,
|
| 197 |
+
"isPickedUp": false,
|
| 198 |
+
"moveable": false,
|
| 199 |
+
"mass": 1.0,
|
| 200 |
+
"salientMaterials": [
|
| 201 |
+
"Rubber",
|
| 202 |
+
"Wood"
|
| 203 |
+
],
|
| 204 |
+
"receptacleObjectIds": null,
|
| 205 |
+
"distance": 2.1652238368988037,
|
| 206 |
+
"objectType": "Plunger",
|
| 207 |
+
"objectId": "Plunger|5|3",
|
| 208 |
+
"assetId": "Plunger_2",
|
| 209 |
+
"parentReceptacles": [
|
| 210 |
+
"Floor"
|
| 211 |
+
],
|
| 212 |
+
"controlledObjects": null,
|
| 213 |
+
"isMoving": false,
|
| 214 |
+
"axisAlignedBoundingBox": {
|
| 215 |
+
"cornerPoints": [
|
| 216 |
+
[
|
| 217 |
+
1.5533244609832764,
|
| 218 |
+
0.5393394231796265,
|
| 219 |
+
11.52400016784668
|
| 220 |
+
],
|
| 221 |
+
[
|
| 222 |
+
1.5533244609832764,
|
| 223 |
+
0.5393394231796265,
|
| 224 |
+
11.375993728637695
|
| 225 |
+
],
|
| 226 |
+
[
|
| 227 |
+
1.5533244609832764,
|
| 228 |
+
-5.066394805908203e-07,
|
| 229 |
+
11.52400016784668
|
| 230 |
+
],
|
| 231 |
+
[
|
| 232 |
+
1.5533244609832764,
|
| 233 |
+
-5.066394805908203e-07,
|
| 234 |
+
11.375993728637695
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
1.4050254821777344,
|
| 238 |
+
0.5393394231796265,
|
| 239 |
+
11.52400016784668
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
1.4050254821777344,
|
| 243 |
+
0.5393394231796265,
|
| 244 |
+
11.375993728637695
|
| 245 |
+
],
|
| 246 |
+
[
|
| 247 |
+
1.4050254821777344,
|
| 248 |
+
-5.066394805908203e-07,
|
| 249 |
+
11.52400016784668
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
1.4050254821777344,
|
| 253 |
+
-5.066394805908203e-07,
|
| 254 |
+
11.375993728637695
|
| 255 |
+
]
|
| 256 |
+
],
|
| 257 |
+
"center": {
|
| 258 |
+
"x": 1.4791749715805054,
|
| 259 |
+
"y": 0.26966944336891174,
|
| 260 |
+
"z": 11.449996948242188
|
| 261 |
+
},
|
| 262 |
+
"size": {
|
| 263 |
+
"x": 0.148298978805542,
|
| 264 |
+
"y": 0.5393399000167847,
|
| 265 |
+
"z": 0.14800643920898438
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
"objectOrientedBoundingBox": {
|
| 269 |
+
"cornerPoints": [
|
| 270 |
+
[
|
| 271 |
+
1.4050257205963135,
|
| 272 |
+
1.755222911015153e-06,
|
| 273 |
+
11.375992774963379
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
1.5533227920532227,
|
| 277 |
+
-5.070760380476713e-07,
|
| 278 |
+
11.375993728637695
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
1.5533225536346436,
|
| 282 |
+
9.310315363109112e-08,
|
| 283 |
+
11.52400016784668
|
| 284 |
+
],
|
| 285 |
+
[
|
| 286 |
+
1.4050254821777344,
|
| 287 |
+
2.3554021026939154e-06,
|
| 288 |
+
11.523999214172363
|
| 289 |
+
],
|
| 290 |
+
[
|
| 291 |
+
1.4050339460372925,
|
| 292 |
+
0.5393400192260742,
|
| 293 |
+
11.375990867614746
|
| 294 |
+
],
|
| 295 |
+
[
|
| 296 |
+
1.5533310174942017,
|
| 297 |
+
0.5393377542495728,
|
| 298 |
+
11.375990867614746
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
1.5533307790756226,
|
| 302 |
+
0.5393383502960205,
|
| 303 |
+
11.52399730682373
|
| 304 |
+
],
|
| 305 |
+
[
|
| 306 |
+
1.4050337076187134,
|
| 307 |
+
0.539340615272522,
|
| 308 |
+
11.52399730682373
|
| 309 |
+
]
|
| 310 |
+
]
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
{
|
| 315 |
+
"objectId": "SoapBar|surface|5|47",
|
| 316 |
+
"object_info": {
|
| 317 |
+
"name": "SoapBar|surface|5|47",
|
| 318 |
+
"position": {
|
| 319 |
+
"x": 0.4175986051559448,
|
| 320 |
+
"y": 1.037503719329834,
|
| 321 |
+
"z": 11.405169486999512
|
| 322 |
+
},
|
| 323 |
+
"rotation": {
|
| 324 |
+
"x": 0.2979035973548889,
|
| 325 |
+
"y": 180.0006103515625,
|
| 326 |
+
"z": 0.0006516455323435366
|
| 327 |
+
},
|
| 328 |
+
"visible": false,
|
| 329 |
+
"isInteractable": false,
|
| 330 |
+
"receptacle": false,
|
| 331 |
+
"toggleable": false,
|
| 332 |
+
"isToggled": false,
|
| 333 |
+
"breakable": false,
|
| 334 |
+
"isBroken": false,
|
| 335 |
+
"canFillWithLiquid": false,
|
| 336 |
+
"isFilledWithLiquid": false,
|
| 337 |
+
"fillLiquid": null,
|
| 338 |
+
"dirtyable": false,
|
| 339 |
+
"isDirty": false,
|
| 340 |
+
"canBeUsedUp": false,
|
| 341 |
+
"isUsedUp": false,
|
| 342 |
+
"cookable": false,
|
| 343 |
+
"isCooked": false,
|
| 344 |
+
"temperature": "RoomTemp",
|
| 345 |
+
"isHeatSource": false,
|
| 346 |
+
"isColdSource": false,
|
| 347 |
+
"sliceable": false,
|
| 348 |
+
"isSliced": false,
|
| 349 |
+
"openable": false,
|
| 350 |
+
"isOpen": false,
|
| 351 |
+
"openness": 0.0,
|
| 352 |
+
"pickupable": true,
|
| 353 |
+
"isPickedUp": false,
|
| 354 |
+
"moveable": false,
|
| 355 |
+
"mass": 0.10999999940395355,
|
| 356 |
+
"salientMaterials": [
|
| 357 |
+
"Soap"
|
| 358 |
+
],
|
| 359 |
+
"receptacleObjectIds": null,
|
| 360 |
+
"distance": 2.328861951828003,
|
| 361 |
+
"objectType": "SoapBar",
|
| 362 |
+
"objectId": "SoapBar|surface|5|47",
|
| 363 |
+
"assetId": "Soap_Bar_1",
|
| 364 |
+
"parentReceptacles": [
|
| 365 |
+
"Toilet|5|0"
|
| 366 |
+
],
|
| 367 |
+
"controlledObjects": null,
|
| 368 |
+
"isMoving": false,
|
| 369 |
+
"axisAlignedBoundingBox": {
|
| 370 |
+
"cornerPoints": [
|
| 371 |
+
[
|
| 372 |
+
0.4448854923248291,
|
| 373 |
+
1.0621978044509888,
|
| 374 |
+
11.450896263122559
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
0.4448854923248291,
|
| 378 |
+
1.0621978044509888,
|
| 379 |
+
11.3593168258667
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
0.4448854923248291,
|
| 383 |
+
1.037084698677063,
|
| 384 |
+
11.450896263122559
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
0.4448854923248291,
|
| 388 |
+
1.037084698677063,
|
| 389 |
+
11.3593168258667
|
| 390 |
+
],
|
| 391 |
+
[
|
| 392 |
+
0.3903120160102844,
|
| 393 |
+
1.0621978044509888,
|
| 394 |
+
11.450896263122559
|
| 395 |
+
],
|
| 396 |
+
[
|
| 397 |
+
0.3903120160102844,
|
| 398 |
+
1.0621978044509888,
|
| 399 |
+
11.3593168258667
|
| 400 |
+
],
|
| 401 |
+
[
|
| 402 |
+
0.3903120160102844,
|
| 403 |
+
1.037084698677063,
|
| 404 |
+
11.450896263122559
|
| 405 |
+
],
|
| 406 |
+
[
|
| 407 |
+
0.3903120160102844,
|
| 408 |
+
1.037084698677063,
|
| 409 |
+
11.3593168258667
|
| 410 |
+
]
|
| 411 |
+
],
|
| 412 |
+
"center": {
|
| 413 |
+
"x": 0.41759875416755676,
|
| 414 |
+
"y": 1.0496412515640259,
|
| 415 |
+
"z": 11.405106544494629
|
| 416 |
+
},
|
| 417 |
+
"size": {
|
| 418 |
+
"x": 0.05457347631454468,
|
| 419 |
+
"y": 0.02511310577392578,
|
| 420 |
+
"z": 0.09157943725585938
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"objectOrientedBoundingBox": {
|
| 424 |
+
"cornerPoints": [
|
| 425 |
+
[
|
| 426 |
+
0.3903120160102844,
|
| 427 |
+
1.0370851755142212,
|
| 428 |
+
11.359445571899414
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
0.44488421082496643,
|
| 432 |
+
1.0370845794677734,
|
| 433 |
+
11.359444618225098
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
0.4448851943016052,
|
| 437 |
+
1.0375601053237915,
|
| 438 |
+
11.450895309448242
|
| 439 |
+
],
|
| 440 |
+
[
|
| 441 |
+
0.3903129994869232,
|
| 442 |
+
1.0375607013702393,
|
| 443 |
+
11.450896263122559
|
| 444 |
+
],
|
| 445 |
+
[
|
| 446 |
+
0.3903122842311859,
|
| 447 |
+
1.0617221593856812,
|
| 448 |
+
11.359317779541016
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
0.4448844790458679,
|
| 452 |
+
1.0617215633392334,
|
| 453 |
+
11.3593168258667
|
| 454 |
+
],
|
| 455 |
+
[
|
| 456 |
+
0.4448854625225067,
|
| 457 |
+
1.0621970891952515,
|
| 458 |
+
11.450767517089844
|
| 459 |
+
],
|
| 460 |
+
[
|
| 461 |
+
0.3903132677078247,
|
| 462 |
+
1.0621976852416992,
|
| 463 |
+
11.450767517089844
|
| 464 |
+
]
|
| 465 |
+
]
|
| 466 |
+
}
|
| 467 |
+
}
|
| 468 |
+
},
|
| 469 |
+
{
|
| 470 |
+
"objectId": "Sink|5|1|0",
|
| 471 |
+
"object_info": {
|
| 472 |
+
"name": "Sink|5|1|0",
|
| 473 |
+
"position": {
|
| 474 |
+
"x": 3.535754919052124,
|
| 475 |
+
"y": 0.0,
|
| 476 |
+
"z": 11.106541633605957
|
| 477 |
+
},
|
| 478 |
+
"rotation": {
|
| 479 |
+
"x": 0.0,
|
| 480 |
+
"y": 270.0,
|
| 481 |
+
"z": 0.0
|
| 482 |
+
},
|
| 483 |
+
"visible": false,
|
| 484 |
+
"isInteractable": false,
|
| 485 |
+
"receptacle": true,
|
| 486 |
+
"toggleable": false,
|
| 487 |
+
"isToggled": false,
|
| 488 |
+
"breakable": false,
|
| 489 |
+
"isBroken": false,
|
| 490 |
+
"canFillWithLiquid": false,
|
| 491 |
+
"isFilledWithLiquid": false,
|
| 492 |
+
"fillLiquid": null,
|
| 493 |
+
"dirtyable": false,
|
| 494 |
+
"isDirty": false,
|
| 495 |
+
"canBeUsedUp": false,
|
| 496 |
+
"isUsedUp": false,
|
| 497 |
+
"cookable": false,
|
| 498 |
+
"isCooked": false,
|
| 499 |
+
"temperature": "RoomTemp",
|
| 500 |
+
"isHeatSource": false,
|
| 501 |
+
"isColdSource": false,
|
| 502 |
+
"sliceable": false,
|
| 503 |
+
"isSliced": false,
|
| 504 |
+
"openable": false,
|
| 505 |
+
"isOpen": false,
|
| 506 |
+
"openness": 0.0,
|
| 507 |
+
"pickupable": false,
|
| 508 |
+
"isPickedUp": false,
|
| 509 |
+
"moveable": false,
|
| 510 |
+
"mass": 0.0,
|
| 511 |
+
"salientMaterials": null,
|
| 512 |
+
"receptacleObjectIds": [
|
| 513 |
+
"Faucet|5|1|1"
|
| 514 |
+
],
|
| 515 |
+
"distance": 2.5654819011688232,
|
| 516 |
+
"objectType": "Sink",
|
| 517 |
+
"objectId": "Sink|5|1|0",
|
| 518 |
+
"assetId": "Sink_26",
|
| 519 |
+
"parentReceptacles": [
|
| 520 |
+
"Floor"
|
| 521 |
+
],
|
| 522 |
+
"controlledObjects": null,
|
| 523 |
+
"isMoving": false,
|
| 524 |
+
"axisAlignedBoundingBox": {
|
| 525 |
+
"cornerPoints": [
|
| 526 |
+
[
|
| 527 |
+
3.825000047683716,
|
| 528 |
+
0.9855988025665283,
|
| 529 |
+
11.52400016784668
|
| 530 |
+
],
|
| 531 |
+
[
|
| 532 |
+
3.825000047683716,
|
| 533 |
+
0.9855988025665283,
|
| 534 |
+
10.689083099365234
|
| 535 |
+
],
|
| 536 |
+
[
|
| 537 |
+
3.825000047683716,
|
| 538 |
+
0.0,
|
| 539 |
+
11.52400016784668
|
| 540 |
+
],
|
| 541 |
+
[
|
| 542 |
+
3.825000047683716,
|
| 543 |
+
0.0,
|
| 544 |
+
10.689083099365234
|
| 545 |
+
],
|
| 546 |
+
[
|
| 547 |
+
3.18265700340271,
|
| 548 |
+
0.9855988025665283,
|
| 549 |
+
11.52400016784668
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
3.18265700340271,
|
| 553 |
+
0.9855988025665283,
|
| 554 |
+
10.689083099365234
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
3.18265700340271,
|
| 558 |
+
0.0,
|
| 559 |
+
11.52400016784668
|
| 560 |
+
],
|
| 561 |
+
[
|
| 562 |
+
3.18265700340271,
|
| 563 |
+
0.0,
|
| 564 |
+
10.689083099365234
|
| 565 |
+
]
|
| 566 |
+
],
|
| 567 |
+
"center": {
|
| 568 |
+
"x": 3.503828525543213,
|
| 569 |
+
"y": 0.49279940128326416,
|
| 570 |
+
"z": 11.106541633605957
|
| 571 |
+
},
|
| 572 |
+
"size": {
|
| 573 |
+
"x": 0.6423430442810059,
|
| 574 |
+
"y": 0.9855988025665283,
|
| 575 |
+
"z": 0.8349170684814453
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
"objectOrientedBoundingBox": null
|
| 579 |
+
}
|
| 580 |
+
},
|
| 581 |
+
{
|
| 582 |
+
"objectId": "Toilet|5|0",
|
| 583 |
+
"object_info": {
|
| 584 |
+
"name": "Toilet|5|0",
|
| 585 |
+
"position": {
|
| 586 |
+
"x": 0.28989943861961365,
|
| 587 |
+
"y": 0.0017688274383544922,
|
| 588 |
+
"z": 11.05154037475586
|
| 589 |
+
},
|
| 590 |
+
"rotation": {
|
| 591 |
+
"x": 0.0,
|
| 592 |
+
"y": 180.0,
|
| 593 |
+
"z": 0.0
|
| 594 |
+
},
|
| 595 |
+
"visible": false,
|
| 596 |
+
"isInteractable": false,
|
| 597 |
+
"receptacle": true,
|
| 598 |
+
"toggleable": false,
|
| 599 |
+
"isToggled": false,
|
| 600 |
+
"breakable": false,
|
| 601 |
+
"isBroken": false,
|
| 602 |
+
"canFillWithLiquid": false,
|
| 603 |
+
"isFilledWithLiquid": false,
|
| 604 |
+
"fillLiquid": null,
|
| 605 |
+
"dirtyable": false,
|
| 606 |
+
"isDirty": false,
|
| 607 |
+
"canBeUsedUp": false,
|
| 608 |
+
"isUsedUp": false,
|
| 609 |
+
"cookable": false,
|
| 610 |
+
"isCooked": false,
|
| 611 |
+
"temperature": "RoomTemp",
|
| 612 |
+
"isHeatSource": false,
|
| 613 |
+
"isColdSource": false,
|
| 614 |
+
"sliceable": false,
|
| 615 |
+
"isSliced": false,
|
| 616 |
+
"openable": true,
|
| 617 |
+
"isOpen": false,
|
| 618 |
+
"openness": 0.0,
|
| 619 |
+
"pickupable": false,
|
| 620 |
+
"isPickedUp": false,
|
| 621 |
+
"moveable": false,
|
| 622 |
+
"mass": 0.0,
|
| 623 |
+
"salientMaterials": null,
|
| 624 |
+
"receptacleObjectIds": [
|
| 625 |
+
"ToiletPaper|surface|5|48",
|
| 626 |
+
"SoapBar|surface|5|47"
|
| 627 |
+
],
|
| 628 |
+
"distance": 2.312528371810913,
|
| 629 |
+
"objectType": "Toilet",
|
| 630 |
+
"objectId": "Toilet|5|0",
|
| 631 |
+
"assetId": "Toilet_1",
|
| 632 |
+
"parentReceptacles": [
|
| 633 |
+
"Floor"
|
| 634 |
+
],
|
| 635 |
+
"controlledObjects": null,
|
| 636 |
+
"isMoving": false,
|
| 637 |
+
"axisAlignedBoundingBox": {
|
| 638 |
+
"cornerPoints": [
|
| 639 |
+
[
|
| 640 |
+
0.5544841289520264,
|
| 641 |
+
1.0379130840301514,
|
| 642 |
+
11.523999214172363
|
| 643 |
+
],
|
| 644 |
+
[
|
| 645 |
+
0.5544841289520264,
|
| 646 |
+
1.0379130840301514,
|
| 647 |
+
10.551131248474121
|
| 648 |
+
],
|
| 649 |
+
[
|
| 650 |
+
0.5544841289520264,
|
| 651 |
+
0.0,
|
| 652 |
+
11.523999214172363
|
| 653 |
+
],
|
| 654 |
+
[
|
| 655 |
+
0.5544841289520264,
|
| 656 |
+
0.0,
|
| 657 |
+
10.551131248474121
|
| 658 |
+
],
|
| 659 |
+
[
|
| 660 |
+
0.02499985694885254,
|
| 661 |
+
1.0379130840301514,
|
| 662 |
+
11.523999214172363
|
| 663 |
+
],
|
| 664 |
+
[
|
| 665 |
+
0.02499985694885254,
|
| 666 |
+
1.0379130840301514,
|
| 667 |
+
10.551131248474121
|
| 668 |
+
],
|
| 669 |
+
[
|
| 670 |
+
0.02499985694885254,
|
| 671 |
+
0.0,
|
| 672 |
+
11.523999214172363
|
| 673 |
+
],
|
| 674 |
+
[
|
| 675 |
+
0.02499985694885254,
|
| 676 |
+
0.0,
|
| 677 |
+
10.551131248474121
|
| 678 |
+
]
|
| 679 |
+
],
|
| 680 |
+
"center": {
|
| 681 |
+
"x": 0.28974199295043945,
|
| 682 |
+
"y": 0.5189565420150757,
|
| 683 |
+
"z": 11.037565231323242
|
| 684 |
+
},
|
| 685 |
+
"size": {
|
| 686 |
+
"x": 0.5294842720031738,
|
| 687 |
+
"y": 1.0379130840301514,
|
| 688 |
+
"z": 0.9728679656982422
|
| 689 |
+
}
|
| 690 |
+
},
|
| 691 |
+
"objectOrientedBoundingBox": null
|
| 692 |
+
}
|
| 693 |
+
},
|
| 694 |
+
{
|
| 695 |
+
"objectId": "Sink|5|1|0___0",
|
| 696 |
+
"object_info": {
|
| 697 |
+
"name": "SinkBasin",
|
| 698 |
+
"position": {
|
| 699 |
+
"x": 3.457854986190796,
|
| 700 |
+
"y": 0.9014000296592712,
|
| 701 |
+
"z": 11.095341682434082
|
| 702 |
+
},
|
| 703 |
+
"rotation": {
|
| 704 |
+
"x": 1.4033420794510015e-14,
|
| 705 |
+
"y": 270.0,
|
| 706 |
+
"z": 0.0
|
| 707 |
+
},
|
| 708 |
+
"visible": false,
|
| 709 |
+
"isInteractable": false,
|
| 710 |
+
"receptacle": true,
|
| 711 |
+
"toggleable": false,
|
| 712 |
+
"isToggled": false,
|
| 713 |
+
"breakable": false,
|
| 714 |
+
"isBroken": false,
|
| 715 |
+
"canFillWithLiquid": false,
|
| 716 |
+
"isFilledWithLiquid": false,
|
| 717 |
+
"fillLiquid": null,
|
| 718 |
+
"dirtyable": false,
|
| 719 |
+
"isDirty": false,
|
| 720 |
+
"canBeUsedUp": false,
|
| 721 |
+
"isUsedUp": false,
|
| 722 |
+
"cookable": false,
|
| 723 |
+
"isCooked": false,
|
| 724 |
+
"temperature": "RoomTemp",
|
| 725 |
+
"isHeatSource": false,
|
| 726 |
+
"isColdSource": false,
|
| 727 |
+
"sliceable": false,
|
| 728 |
+
"isSliced": false,
|
| 729 |
+
"openable": false,
|
| 730 |
+
"isOpen": false,
|
| 731 |
+
"openness": 0.0,
|
| 732 |
+
"pickupable": false,
|
| 733 |
+
"isPickedUp": false,
|
| 734 |
+
"moveable": false,
|
| 735 |
+
"mass": 0.0,
|
| 736 |
+
"salientMaterials": null,
|
| 737 |
+
"receptacleObjectIds": [],
|
| 738 |
+
"distance": 2.3370673656463623,
|
| 739 |
+
"objectType": "SinkBasin",
|
| 740 |
+
"objectId": "Sink|5|1|0___0",
|
| 741 |
+
"assetId": "",
|
| 742 |
+
"parentReceptacles": null,
|
| 743 |
+
"controlledObjects": null,
|
| 744 |
+
"isMoving": false,
|
| 745 |
+
"axisAlignedBoundingBox": {
|
| 746 |
+
"cornerPoints": [
|
| 747 |
+
[
|
| 748 |
+
3.604801654815674,
|
| 749 |
+
1.0298691987991333,
|
| 750 |
+
11.469036102294922
|
| 751 |
+
],
|
| 752 |
+
[
|
| 753 |
+
3.604801654815674,
|
| 754 |
+
1.0298691987991333,
|
| 755 |
+
10.744049072265625
|
| 756 |
+
],
|
| 757 |
+
[
|
| 758 |
+
3.604801654815674,
|
| 759 |
+
0.8825722932815552,
|
| 760 |
+
11.469036102294922
|
| 761 |
+
],
|
| 762 |
+
[
|
| 763 |
+
3.604801654815674,
|
| 764 |
+
0.8825722932815552,
|
| 765 |
+
10.744049072265625
|
| 766 |
+
],
|
| 767 |
+
[
|
| 768 |
+
3.2320265769958496,
|
| 769 |
+
1.0298691987991333,
|
| 770 |
+
11.469036102294922
|
| 771 |
+
],
|
| 772 |
+
[
|
| 773 |
+
3.2320265769958496,
|
| 774 |
+
1.0298691987991333,
|
| 775 |
+
10.744049072265625
|
| 776 |
+
],
|
| 777 |
+
[
|
| 778 |
+
3.2320265769958496,
|
| 779 |
+
0.8825722932815552,
|
| 780 |
+
11.469036102294922
|
| 781 |
+
],
|
| 782 |
+
[
|
| 783 |
+
3.2320265769958496,
|
| 784 |
+
0.8825722932815552,
|
| 785 |
+
10.744049072265625
|
| 786 |
+
]
|
| 787 |
+
],
|
| 788 |
+
"center": {
|
| 789 |
+
"x": 3.4184141159057617,
|
| 790 |
+
"y": 0.9562207460403442,
|
| 791 |
+
"z": 11.106542587280273
|
| 792 |
+
},
|
| 793 |
+
"size": {
|
| 794 |
+
"x": 0.3727750778198242,
|
| 795 |
+
"y": 0.14729690551757812,
|
| 796 |
+
"z": 0.7249870300292969
|
| 797 |
+
}
|
| 798 |
+
},
|
| 799 |
+
"objectOrientedBoundingBox": null
|
| 800 |
+
}
|
| 801 |
+
}
|
| 802 |
+
],
|
| 803 |
+
"Agent": {
|
| 804 |
+
"agent_position": {
|
| 805 |
+
"x": 1.5,
|
| 806 |
+
"y": 0.9009997844696045,
|
| 807 |
+
"z": 9.699999809265137
|
| 808 |
+
},
|
| 809 |
+
"agent_rotation": {
|
| 810 |
+
"x": -0.0,
|
| 811 |
+
"y": 0.0,
|
| 812 |
+
"z": 0.0
|
| 813 |
+
},
|
| 814 |
+
"agent_cameraHorizon": 1.5309450418499182e-06,
|
| 815 |
+
"agent_isStanding": true,
|
| 816 |
+
"agent_inHighFrictionArea": false
|
| 817 |
+
},
|
| 818 |
+
"camera_info": {
|
| 819 |
+
"cameraPosition": {
|
| 820 |
+
"x": 1.5,
|
| 821 |
+
"y": 1.5759997367858887,
|
| 822 |
+
"z": 9.699999809265137
|
| 823 |
+
},
|
| 824 |
+
"cameraOrthSize": -1.0,
|
| 825 |
+
"fov": 90.0
|
| 826 |
+
},
|
| 827 |
+
"common_object": [
|
| 828 |
+
"Sink|5|1|0",
|
| 829 |
+
"Sink|5|1|0___0"
|
| 830 |
+
],
|
| 831 |
+
"different_object": [
|
| 832 |
+
"SoapBar|surface|5|47",
|
| 833 |
+
"Plunger|5|3",
|
| 834 |
+
"ToiletPaper|surface|5|48",
|
| 835 |
+
"Toilet|5|0"
|
| 836 |
+
]
|
| 837 |
+
}
|
train/train1259/0/1_depth_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8c393cf6106612cbc764f761c43dea1257815e83aeca5dea3a29ae023bad8ba6
|
| 3 |
+
size 3145856
|
train/train1259/0/1_semantic_sensor_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f8c0e4894f7f0d5d533eaca39e7d2930c01b9fa2800ca60ed88d07da80052c2f
|
| 3 |
+
size 2359424
|
train/train1259/0/depth_0.png
ADDED
|
train/train1259/0/depth_1.png
ADDED
|
train/train1259/0/mask_questions.jsonl
ADDED
|
File without changes
|
train/train1259/0/rgb_0.png
ADDED
|
Git LFS Details
|
train/train1259/0/rgb_1.png
ADDED
|
Git LFS Details
|
train/train1259/0/semantic_0.png
ADDED
|
train/train1259/0/semantic_1.png
ADDED
|
train/train1259/1/0.json
ADDED
|
@@ -0,0 +1,521 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object": [
|
| 3 |
+
{
|
| 4 |
+
"objectId": "Faucet|5|1|1",
|
| 5 |
+
"object_info": {
|
| 6 |
+
"name": "Faucet|5|1|1",
|
| 7 |
+
"position": {
|
| 8 |
+
"x": 3.7983078956604004,
|
| 9 |
+
"y": 0.985598623752594,
|
| 10 |
+
"z": 11.123241424560547
|
| 11 |
+
},
|
| 12 |
+
"rotation": {
|
| 13 |
+
"x": 0.0,
|
| 14 |
+
"y": 270.0,
|
| 15 |
+
"z": 0.0
|
| 16 |
+
},
|
| 17 |
+
"visible": false,
|
| 18 |
+
"isInteractable": false,
|
| 19 |
+
"receptacle": false,
|
| 20 |
+
"toggleable": true,
|
| 21 |
+
"isToggled": false,
|
| 22 |
+
"breakable": false,
|
| 23 |
+
"isBroken": false,
|
| 24 |
+
"canFillWithLiquid": false,
|
| 25 |
+
"isFilledWithLiquid": false,
|
| 26 |
+
"fillLiquid": null,
|
| 27 |
+
"dirtyable": false,
|
| 28 |
+
"isDirty": false,
|
| 29 |
+
"canBeUsedUp": false,
|
| 30 |
+
"isUsedUp": false,
|
| 31 |
+
"cookable": false,
|
| 32 |
+
"isCooked": false,
|
| 33 |
+
"temperature": "RoomTemp",
|
| 34 |
+
"isHeatSource": false,
|
| 35 |
+
"isColdSource": false,
|
| 36 |
+
"sliceable": false,
|
| 37 |
+
"isSliced": false,
|
| 38 |
+
"openable": false,
|
| 39 |
+
"isOpen": false,
|
| 40 |
+
"openness": 0.0,
|
| 41 |
+
"pickupable": false,
|
| 42 |
+
"isPickedUp": false,
|
| 43 |
+
"moveable": false,
|
| 44 |
+
"mass": 0.0,
|
| 45 |
+
"salientMaterials": null,
|
| 46 |
+
"receptacleObjectIds": null,
|
| 47 |
+
"distance": 2.614887237548828,
|
| 48 |
+
"objectType": "Faucet",
|
| 49 |
+
"objectId": "Faucet|5|1|1",
|
| 50 |
+
"assetId": "Bathroom_Faucet_19",
|
| 51 |
+
"parentReceptacles": [
|
| 52 |
+
"Sink|5|1|0"
|
| 53 |
+
],
|
| 54 |
+
"controlledObjects": [],
|
| 55 |
+
"isMoving": false,
|
| 56 |
+
"axisAlignedBoundingBox": {
|
| 57 |
+
"cornerPoints": [
|
| 58 |
+
[
|
| 59 |
+
3.819999933242798,
|
| 60 |
+
1.190291404724121,
|
| 61 |
+
11.1426362991333
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
3.819999933242798,
|
| 65 |
+
1.190291404724121,
|
| 66 |
+
11.070446968078613
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
3.819999933242798,
|
| 70 |
+
0.9855985641479492,
|
| 71 |
+
11.1426362991333
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
3.819999933242798,
|
| 75 |
+
0.9855985641479492,
|
| 76 |
+
11.070446968078613
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
3.604583978652954,
|
| 80 |
+
1.190291404724121,
|
| 81 |
+
11.1426362991333
|
| 82 |
+
],
|
| 83 |
+
[
|
| 84 |
+
3.604583978652954,
|
| 85 |
+
1.190291404724121,
|
| 86 |
+
11.070446968078613
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
3.604583978652954,
|
| 90 |
+
0.9855985641479492,
|
| 91 |
+
11.1426362991333
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
3.604583978652954,
|
| 95 |
+
0.9855985641479492,
|
| 96 |
+
11.070446968078613
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"center": {
|
| 100 |
+
"x": 3.712291955947876,
|
| 101 |
+
"y": 1.0879449844360352,
|
| 102 |
+
"z": 11.106541633605957
|
| 103 |
+
},
|
| 104 |
+
"size": {
|
| 105 |
+
"x": 0.21541595458984375,
|
| 106 |
+
"y": 0.20469284057617188,
|
| 107 |
+
"z": 0.0721893310546875
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"objectOrientedBoundingBox": null
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"objectId": "GarbageCan|5|2",
|
| 115 |
+
"object_info": {
|
| 116 |
+
"name": "GarbageCan|5|2",
|
| 117 |
+
"position": {
|
| 118 |
+
"x": 3.636021614074707,
|
| 119 |
+
"y": -0.032638683915138245,
|
| 120 |
+
"z": 9.863131523132324
|
| 121 |
+
},
|
| 122 |
+
"rotation": {
|
| 123 |
+
"x": -3.652619489002973e-05,
|
| 124 |
+
"y": 270.0002746582031,
|
| 125 |
+
"z": 1.1019371413567569e-05
|
| 126 |
+
},
|
| 127 |
+
"visible": false,
|
| 128 |
+
"isInteractable": false,
|
| 129 |
+
"receptacle": true,
|
| 130 |
+
"toggleable": false,
|
| 131 |
+
"isToggled": false,
|
| 132 |
+
"breakable": false,
|
| 133 |
+
"isBroken": false,
|
| 134 |
+
"canFillWithLiquid": false,
|
| 135 |
+
"isFilledWithLiquid": false,
|
| 136 |
+
"fillLiquid": null,
|
| 137 |
+
"dirtyable": false,
|
| 138 |
+
"isDirty": false,
|
| 139 |
+
"canBeUsedUp": false,
|
| 140 |
+
"isUsedUp": false,
|
| 141 |
+
"cookable": false,
|
| 142 |
+
"isCooked": false,
|
| 143 |
+
"temperature": "RoomTemp",
|
| 144 |
+
"isHeatSource": false,
|
| 145 |
+
"isColdSource": false,
|
| 146 |
+
"sliceable": false,
|
| 147 |
+
"isSliced": false,
|
| 148 |
+
"openable": false,
|
| 149 |
+
"isOpen": false,
|
| 150 |
+
"openness": 0.0,
|
| 151 |
+
"pickupable": false,
|
| 152 |
+
"isPickedUp": false,
|
| 153 |
+
"moveable": true,
|
| 154 |
+
"mass": 0.699999988079071,
|
| 155 |
+
"salientMaterials": [
|
| 156 |
+
"Plastic"
|
| 157 |
+
],
|
| 158 |
+
"receptacleObjectIds": [],
|
| 159 |
+
"distance": 2.135561466217041,
|
| 160 |
+
"objectType": "GarbageCan",
|
| 161 |
+
"objectId": "GarbageCan|5|2",
|
| 162 |
+
"assetId": "bin_17",
|
| 163 |
+
"parentReceptacles": [
|
| 164 |
+
"Floor"
|
| 165 |
+
],
|
| 166 |
+
"controlledObjects": null,
|
| 167 |
+
"isMoving": false,
|
| 168 |
+
"axisAlignedBoundingBox": {
|
| 169 |
+
"cornerPoints": [
|
| 170 |
+
[
|
| 171 |
+
3.82499361038208,
|
| 172 |
+
0.5611541271209717,
|
| 173 |
+
10.145074844360352
|
| 174 |
+
],
|
| 175 |
+
[
|
| 176 |
+
3.82499361038208,
|
| 177 |
+
0.5611541271209717,
|
| 178 |
+
9.577098846435547
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
3.82499361038208,
|
| 182 |
+
3.2782554626464844e-07,
|
| 183 |
+
10.145074844360352
|
| 184 |
+
],
|
| 185 |
+
[
|
| 186 |
+
3.82499361038208,
|
| 187 |
+
3.2782554626464844e-07,
|
| 188 |
+
9.577098846435547
|
| 189 |
+
],
|
| 190 |
+
[
|
| 191 |
+
3.4075722694396973,
|
| 192 |
+
0.5611541271209717,
|
| 193 |
+
10.145074844360352
|
| 194 |
+
],
|
| 195 |
+
[
|
| 196 |
+
3.4075722694396973,
|
| 197 |
+
0.5611541271209717,
|
| 198 |
+
9.577098846435547
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
3.4075722694396973,
|
| 202 |
+
3.2782554626464844e-07,
|
| 203 |
+
10.145074844360352
|
| 204 |
+
],
|
| 205 |
+
[
|
| 206 |
+
3.4075722694396973,
|
| 207 |
+
3.2782554626464844e-07,
|
| 208 |
+
9.577098846435547
|
| 209 |
+
]
|
| 210 |
+
],
|
| 211 |
+
"center": {
|
| 212 |
+
"x": 3.6162829399108887,
|
| 213 |
+
"y": 0.2805772125720978,
|
| 214 |
+
"z": 9.86108684539795
|
| 215 |
+
},
|
| 216 |
+
"size": {
|
| 217 |
+
"x": 0.4174213409423828,
|
| 218 |
+
"y": 0.561153769493103,
|
| 219 |
+
"z": 0.5679759979248047
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"objectOrientedBoundingBox": {
|
| 223 |
+
"cornerPoints": [
|
| 224 |
+
[
|
| 225 |
+
3.40757155418396,
|
| 226 |
+
-1.8998980522155762e-06,
|
| 227 |
+
10.145078659057617
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
3.40756893157959,
|
| 231 |
+
-2.0116567611694336e-06,
|
| 232 |
+
9.57709789276123
|
| 233 |
+
],
|
| 234 |
+
[
|
| 235 |
+
3.8249926567077637,
|
| 236 |
+
-2.2761523723602295e-06,
|
| 237 |
+
9.577095985412598
|
| 238 |
+
],
|
| 239 |
+
[
|
| 240 |
+
3.824995279312134,
|
| 241 |
+
-2.164393663406372e-06,
|
| 242 |
+
10.145075798034668
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
3.407571792602539,
|
| 246 |
+
0.5611568093299866,
|
| 247 |
+
10.1450777053833
|
| 248 |
+
],
|
| 249 |
+
[
|
| 250 |
+
3.407569169998169,
|
| 251 |
+
0.561156690120697,
|
| 252 |
+
9.57709789276123
|
| 253 |
+
],
|
| 254 |
+
[
|
| 255 |
+
3.824993133544922,
|
| 256 |
+
0.5611564517021179,
|
| 257 |
+
9.577095985412598
|
| 258 |
+
],
|
| 259 |
+
[
|
| 260 |
+
3.824995756149292,
|
| 261 |
+
0.5611565709114075,
|
| 262 |
+
10.145075798034668
|
| 263 |
+
]
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"objectId": "Sink|5|1|0",
|
| 270 |
+
"object_info": {
|
| 271 |
+
"name": "Sink|5|1|0",
|
| 272 |
+
"position": {
|
| 273 |
+
"x": 3.535754919052124,
|
| 274 |
+
"y": 0.0,
|
| 275 |
+
"z": 11.106541633605957
|
| 276 |
+
},
|
| 277 |
+
"rotation": {
|
| 278 |
+
"x": 0.0,
|
| 279 |
+
"y": 270.0,
|
| 280 |
+
"z": 0.0
|
| 281 |
+
},
|
| 282 |
+
"visible": false,
|
| 283 |
+
"isInteractable": false,
|
| 284 |
+
"receptacle": true,
|
| 285 |
+
"toggleable": false,
|
| 286 |
+
"isToggled": false,
|
| 287 |
+
"breakable": false,
|
| 288 |
+
"isBroken": false,
|
| 289 |
+
"canFillWithLiquid": false,
|
| 290 |
+
"isFilledWithLiquid": false,
|
| 291 |
+
"fillLiquid": null,
|
| 292 |
+
"dirtyable": false,
|
| 293 |
+
"isDirty": false,
|
| 294 |
+
"canBeUsedUp": false,
|
| 295 |
+
"isUsedUp": false,
|
| 296 |
+
"cookable": false,
|
| 297 |
+
"isCooked": false,
|
| 298 |
+
"temperature": "RoomTemp",
|
| 299 |
+
"isHeatSource": false,
|
| 300 |
+
"isColdSource": false,
|
| 301 |
+
"sliceable": false,
|
| 302 |
+
"isSliced": false,
|
| 303 |
+
"openable": false,
|
| 304 |
+
"isOpen": false,
|
| 305 |
+
"openness": 0.0,
|
| 306 |
+
"pickupable": false,
|
| 307 |
+
"isPickedUp": false,
|
| 308 |
+
"moveable": false,
|
| 309 |
+
"mass": 0.0,
|
| 310 |
+
"salientMaterials": null,
|
| 311 |
+
"receptacleObjectIds": [
|
| 312 |
+
"Faucet|5|1|1"
|
| 313 |
+
],
|
| 314 |
+
"distance": 2.5654819011688232,
|
| 315 |
+
"objectType": "Sink",
|
| 316 |
+
"objectId": "Sink|5|1|0",
|
| 317 |
+
"assetId": "Sink_26",
|
| 318 |
+
"parentReceptacles": [
|
| 319 |
+
"Floor"
|
| 320 |
+
],
|
| 321 |
+
"controlledObjects": null,
|
| 322 |
+
"isMoving": false,
|
| 323 |
+
"axisAlignedBoundingBox": {
|
| 324 |
+
"cornerPoints": [
|
| 325 |
+
[
|
| 326 |
+
3.825000047683716,
|
| 327 |
+
0.9855988025665283,
|
| 328 |
+
11.52400016784668
|
| 329 |
+
],
|
| 330 |
+
[
|
| 331 |
+
3.825000047683716,
|
| 332 |
+
0.9855988025665283,
|
| 333 |
+
10.689083099365234
|
| 334 |
+
],
|
| 335 |
+
[
|
| 336 |
+
3.825000047683716,
|
| 337 |
+
0.0,
|
| 338 |
+
11.52400016784668
|
| 339 |
+
],
|
| 340 |
+
[
|
| 341 |
+
3.825000047683716,
|
| 342 |
+
0.0,
|
| 343 |
+
10.689083099365234
|
| 344 |
+
],
|
| 345 |
+
[
|
| 346 |
+
3.18265700340271,
|
| 347 |
+
0.9855988025665283,
|
| 348 |
+
11.52400016784668
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
3.18265700340271,
|
| 352 |
+
0.9855988025665283,
|
| 353 |
+
10.689083099365234
|
| 354 |
+
],
|
| 355 |
+
[
|
| 356 |
+
3.18265700340271,
|
| 357 |
+
0.0,
|
| 358 |
+
11.52400016784668
|
| 359 |
+
],
|
| 360 |
+
[
|
| 361 |
+
3.18265700340271,
|
| 362 |
+
0.0,
|
| 363 |
+
10.689083099365234
|
| 364 |
+
]
|
| 365 |
+
],
|
| 366 |
+
"center": {
|
| 367 |
+
"x": 3.503828525543213,
|
| 368 |
+
"y": 0.49279940128326416,
|
| 369 |
+
"z": 11.106541633605957
|
| 370 |
+
},
|
| 371 |
+
"size": {
|
| 372 |
+
"x": 0.6423430442810059,
|
| 373 |
+
"y": 0.9855988025665283,
|
| 374 |
+
"z": 0.8349170684814453
|
| 375 |
+
}
|
| 376 |
+
},
|
| 377 |
+
"objectOrientedBoundingBox": null
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"objectId": "Sink|5|1|0___0",
|
| 382 |
+
"object_info": {
|
| 383 |
+
"name": "SinkBasin",
|
| 384 |
+
"position": {
|
| 385 |
+
"x": 3.457854986190796,
|
| 386 |
+
"y": 0.9014000296592712,
|
| 387 |
+
"z": 11.095341682434082
|
| 388 |
+
},
|
| 389 |
+
"rotation": {
|
| 390 |
+
"x": 1.4033420794510015e-14,
|
| 391 |
+
"y": 270.0,
|
| 392 |
+
"z": 0.0
|
| 393 |
+
},
|
| 394 |
+
"visible": false,
|
| 395 |
+
"isInteractable": false,
|
| 396 |
+
"receptacle": true,
|
| 397 |
+
"toggleable": false,
|
| 398 |
+
"isToggled": false,
|
| 399 |
+
"breakable": false,
|
| 400 |
+
"isBroken": false,
|
| 401 |
+
"canFillWithLiquid": false,
|
| 402 |
+
"isFilledWithLiquid": false,
|
| 403 |
+
"fillLiquid": null,
|
| 404 |
+
"dirtyable": false,
|
| 405 |
+
"isDirty": false,
|
| 406 |
+
"canBeUsedUp": false,
|
| 407 |
+
"isUsedUp": false,
|
| 408 |
+
"cookable": false,
|
| 409 |
+
"isCooked": false,
|
| 410 |
+
"temperature": "RoomTemp",
|
| 411 |
+
"isHeatSource": false,
|
| 412 |
+
"isColdSource": false,
|
| 413 |
+
"sliceable": false,
|
| 414 |
+
"isSliced": false,
|
| 415 |
+
"openable": false,
|
| 416 |
+
"isOpen": false,
|
| 417 |
+
"openness": 0.0,
|
| 418 |
+
"pickupable": false,
|
| 419 |
+
"isPickedUp": false,
|
| 420 |
+
"moveable": false,
|
| 421 |
+
"mass": 0.0,
|
| 422 |
+
"salientMaterials": null,
|
| 423 |
+
"receptacleObjectIds": [],
|
| 424 |
+
"distance": 2.3370673656463623,
|
| 425 |
+
"objectType": "SinkBasin",
|
| 426 |
+
"objectId": "Sink|5|1|0___0",
|
| 427 |
+
"assetId": "",
|
| 428 |
+
"parentReceptacles": null,
|
| 429 |
+
"controlledObjects": null,
|
| 430 |
+
"isMoving": false,
|
| 431 |
+
"axisAlignedBoundingBox": {
|
| 432 |
+
"cornerPoints": [
|
| 433 |
+
[
|
| 434 |
+
3.604801654815674,
|
| 435 |
+
1.0298691987991333,
|
| 436 |
+
11.469036102294922
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
3.604801654815674,
|
| 440 |
+
1.0298691987991333,
|
| 441 |
+
10.744049072265625
|
| 442 |
+
],
|
| 443 |
+
[
|
| 444 |
+
3.604801654815674,
|
| 445 |
+
0.8825722932815552,
|
| 446 |
+
11.469036102294922
|
| 447 |
+
],
|
| 448 |
+
[
|
| 449 |
+
3.604801654815674,
|
| 450 |
+
0.8825722932815552,
|
| 451 |
+
10.744049072265625
|
| 452 |
+
],
|
| 453 |
+
[
|
| 454 |
+
3.2320265769958496,
|
| 455 |
+
1.0298691987991333,
|
| 456 |
+
11.469036102294922
|
| 457 |
+
],
|
| 458 |
+
[
|
| 459 |
+
3.2320265769958496,
|
| 460 |
+
1.0298691987991333,
|
| 461 |
+
10.744049072265625
|
| 462 |
+
],
|
| 463 |
+
[
|
| 464 |
+
3.2320265769958496,
|
| 465 |
+
0.8825722932815552,
|
| 466 |
+
11.469036102294922
|
| 467 |
+
],
|
| 468 |
+
[
|
| 469 |
+
3.2320265769958496,
|
| 470 |
+
0.8825722932815552,
|
| 471 |
+
10.744049072265625
|
| 472 |
+
]
|
| 473 |
+
],
|
| 474 |
+
"center": {
|
| 475 |
+
"x": 3.4184141159057617,
|
| 476 |
+
"y": 0.9562207460403442,
|
| 477 |
+
"z": 11.106542587280273
|
| 478 |
+
},
|
| 479 |
+
"size": {
|
| 480 |
+
"x": 0.3727750778198242,
|
| 481 |
+
"y": 0.14729690551757812,
|
| 482 |
+
"z": 0.7249870300292969
|
| 483 |
+
}
|
| 484 |
+
},
|
| 485 |
+
"objectOrientedBoundingBox": null
|
| 486 |
+
}
|
| 487 |
+
}
|
| 488 |
+
],
|
| 489 |
+
"Agent": {
|
| 490 |
+
"agent_position": {
|
| 491 |
+
"x": 1.7000000476837158,
|
| 492 |
+
"y": 0.9009997844696045,
|
| 493 |
+
"z": 10.0
|
| 494 |
+
},
|
| 495 |
+
"agent_rotation": {
|
| 496 |
+
"x": -0.0,
|
| 497 |
+
"y": 90.0,
|
| 498 |
+
"z": 0.0
|
| 499 |
+
},
|
| 500 |
+
"agent_cameraHorizon": -1.530945155536756e-06,
|
| 501 |
+
"agent_isStanding": true,
|
| 502 |
+
"agent_inHighFrictionArea": false
|
| 503 |
+
},
|
| 504 |
+
"camera_info": {
|
| 505 |
+
"cameraPosition": {
|
| 506 |
+
"x": 1.7000000476837158,
|
| 507 |
+
"y": 1.5759997367858887,
|
| 508 |
+
"z": 10.0
|
| 509 |
+
},
|
| 510 |
+
"cameraOrthSize": -1.0,
|
| 511 |
+
"fov": 90.0
|
| 512 |
+
},
|
| 513 |
+
"common_object": [
|
| 514 |
+
"Sink|5|1|0",
|
| 515 |
+
"GarbageCan|5|2"
|
| 516 |
+
],
|
| 517 |
+
"different_object": [
|
| 518 |
+
"Faucet|5|1|1",
|
| 519 |
+
"Sink|5|1|0___0"
|
| 520 |
+
]
|
| 521 |
+
}
|
train/train1259/1/0_depth_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:66f447015ea04fafcb77516bf5cded810af23861bc1b9344bfae70f1585bf562
|
| 3 |
+
size 3145856
|
train/train1259/1/0_semantic_sensor_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:52f5d0b189be6892f163dbbba3ab7b4c6e78c45effbaf051359c5d6e955e9252
|
| 3 |
+
size 2359424
|
train/train1259/1/1.json
ADDED
|
@@ -0,0 +1,884 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object": [
|
| 3 |
+
{
|
| 4 |
+
"objectId": "ToiletPaper|surface|5|48",
|
| 5 |
+
"object_info": {
|
| 6 |
+
"name": "ToiletPaper|surface|5|48",
|
| 7 |
+
"position": {
|
| 8 |
+
"x": 0.22087982296943665,
|
| 9 |
+
"y": 1.0354818105697632,
|
| 10 |
+
"z": 11.313288688659668
|
| 11 |
+
},
|
| 12 |
+
"rotation": {
|
| 13 |
+
"x": 0.1303512006998062,
|
| 14 |
+
"y": 179.99574279785156,
|
| 15 |
+
"z": 0.15781132876873016
|
| 16 |
+
},
|
| 17 |
+
"visible": false,
|
| 18 |
+
"isInteractable": false,
|
| 19 |
+
"receptacle": false,
|
| 20 |
+
"toggleable": false,
|
| 21 |
+
"isToggled": false,
|
| 22 |
+
"breakable": false,
|
| 23 |
+
"isBroken": false,
|
| 24 |
+
"canFillWithLiquid": false,
|
| 25 |
+
"isFilledWithLiquid": false,
|
| 26 |
+
"fillLiquid": null,
|
| 27 |
+
"dirtyable": false,
|
| 28 |
+
"isDirty": false,
|
| 29 |
+
"canBeUsedUp": false,
|
| 30 |
+
"isUsedUp": false,
|
| 31 |
+
"cookable": false,
|
| 32 |
+
"isCooked": false,
|
| 33 |
+
"temperature": "RoomTemp",
|
| 34 |
+
"isHeatSource": false,
|
| 35 |
+
"isColdSource": false,
|
| 36 |
+
"sliceable": false,
|
| 37 |
+
"isSliced": false,
|
| 38 |
+
"openable": false,
|
| 39 |
+
"isOpen": false,
|
| 40 |
+
"openness": 0.0,
|
| 41 |
+
"pickupable": true,
|
| 42 |
+
"isPickedUp": false,
|
| 43 |
+
"moveable": false,
|
| 44 |
+
"mass": 0.20000000298023224,
|
| 45 |
+
"salientMaterials": [
|
| 46 |
+
"Paper"
|
| 47 |
+
],
|
| 48 |
+
"receptacleObjectIds": null,
|
| 49 |
+
"distance": 2.3757755756378174,
|
| 50 |
+
"objectType": "ToiletPaper",
|
| 51 |
+
"objectId": "ToiletPaper|surface|5|48",
|
| 52 |
+
"assetId": "Toilet_Paper",
|
| 53 |
+
"parentReceptacles": [
|
| 54 |
+
"Toilet|5|0"
|
| 55 |
+
],
|
| 56 |
+
"controlledObjects": null,
|
| 57 |
+
"isMoving": false,
|
| 58 |
+
"axisAlignedBoundingBox": {
|
| 59 |
+
"cornerPoints": [
|
| 60 |
+
[
|
| 61 |
+
0.27252668142318726,
|
| 62 |
+
1.1560850143432617,
|
| 63 |
+
11.365324020385742
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.27252668142318726,
|
| 67 |
+
1.1560850143432617,
|
| 68 |
+
11.26097297668457
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
0.27252668142318726,
|
| 72 |
+
1.0374767780303955,
|
| 73 |
+
11.365324020385742
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.27252668142318726,
|
| 77 |
+
1.0374767780303955,
|
| 78 |
+
11.26097297668457
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.16816958785057068,
|
| 82 |
+
1.1560850143432617,
|
| 83 |
+
11.365324020385742
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
0.16816958785057068,
|
| 87 |
+
1.1560850143432617,
|
| 88 |
+
11.26097297668457
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.16816958785057068,
|
| 92 |
+
1.0374767780303955,
|
| 93 |
+
11.365324020385742
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.16816958785057068,
|
| 97 |
+
1.0374767780303955,
|
| 98 |
+
11.26097297668457
|
| 99 |
+
]
|
| 100 |
+
],
|
| 101 |
+
"center": {
|
| 102 |
+
"x": 0.22034813463687897,
|
| 103 |
+
"y": 1.0967808961868286,
|
| 104 |
+
"z": 11.313148498535156
|
| 105 |
+
},
|
| 106 |
+
"size": {
|
| 107 |
+
"x": 0.10435709357261658,
|
| 108 |
+
"y": 0.11860823631286621,
|
| 109 |
+
"z": 0.10435104370117188
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"objectOrientedBoundingBox": {
|
| 113 |
+
"cornerPoints": [
|
| 114 |
+
[
|
| 115 |
+
0.16802997887134552,
|
| 116 |
+
1.0375020503997803,
|
| 117 |
+
11.261120796203613
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
0.27234840393066406,
|
| 121 |
+
1.037214756011963,
|
| 122 |
+
11.261129379272461
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.27234065532684326,
|
| 126 |
+
1.037451982498169,
|
| 127 |
+
11.365447998046875
|
| 128 |
+
],
|
| 129 |
+
[
|
| 130 |
+
0.1680222451686859,
|
| 131 |
+
1.0377393960952759,
|
| 132 |
+
11.365439414978027
|
| 133 |
+
],
|
| 134 |
+
[
|
| 135 |
+
0.1683564931154251,
|
| 136 |
+
1.1560392379760742,
|
| 137 |
+
11.26085090637207
|
| 138 |
+
],
|
| 139 |
+
[
|
| 140 |
+
0.27267491817474365,
|
| 141 |
+
1.1557519435882568,
|
| 142 |
+
11.260859489440918
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.27266716957092285,
|
| 146 |
+
1.1559892892837524,
|
| 147 |
+
11.365178108215332
|
| 148 |
+
],
|
| 149 |
+
[
|
| 150 |
+
0.1683487445116043,
|
| 151 |
+
1.1562765836715698,
|
| 152 |
+
11.365169525146484
|
| 153 |
+
]
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"objectId": "Plunger|5|3",
|
| 160 |
+
"object_info": {
|
| 161 |
+
"name": "Plunger|5|3",
|
| 162 |
+
"position": {
|
| 163 |
+
"x": 1.4791741371154785,
|
| 164 |
+
"y": -0.00046303868293762207,
|
| 165 |
+
"z": 11.449926376342773
|
| 166 |
+
},
|
| 167 |
+
"rotation": {
|
| 168 |
+
"x": 0.00023233394313137978,
|
| 169 |
+
"y": 179.99989318847656,
|
| 170 |
+
"z": 0.0008740525227040052
|
| 171 |
+
},
|
| 172 |
+
"visible": false,
|
| 173 |
+
"isInteractable": false,
|
| 174 |
+
"receptacle": false,
|
| 175 |
+
"toggleable": false,
|
| 176 |
+
"isToggled": false,
|
| 177 |
+
"breakable": false,
|
| 178 |
+
"isBroken": false,
|
| 179 |
+
"canFillWithLiquid": false,
|
| 180 |
+
"isFilledWithLiquid": false,
|
| 181 |
+
"fillLiquid": null,
|
| 182 |
+
"dirtyable": false,
|
| 183 |
+
"isDirty": false,
|
| 184 |
+
"canBeUsedUp": false,
|
| 185 |
+
"isUsedUp": false,
|
| 186 |
+
"cookable": false,
|
| 187 |
+
"isCooked": false,
|
| 188 |
+
"temperature": "RoomTemp",
|
| 189 |
+
"isHeatSource": false,
|
| 190 |
+
"isColdSource": false,
|
| 191 |
+
"sliceable": false,
|
| 192 |
+
"isSliced": false,
|
| 193 |
+
"openable": false,
|
| 194 |
+
"isOpen": false,
|
| 195 |
+
"openness": 0.0,
|
| 196 |
+
"pickupable": true,
|
| 197 |
+
"isPickedUp": false,
|
| 198 |
+
"moveable": false,
|
| 199 |
+
"mass": 1.0,
|
| 200 |
+
"salientMaterials": [
|
| 201 |
+
"Rubber",
|
| 202 |
+
"Wood"
|
| 203 |
+
],
|
| 204 |
+
"receptacleObjectIds": null,
|
| 205 |
+
"distance": 2.1652238368988037,
|
| 206 |
+
"objectType": "Plunger",
|
| 207 |
+
"objectId": "Plunger|5|3",
|
| 208 |
+
"assetId": "Plunger_2",
|
| 209 |
+
"parentReceptacles": [
|
| 210 |
+
"Floor"
|
| 211 |
+
],
|
| 212 |
+
"controlledObjects": null,
|
| 213 |
+
"isMoving": false,
|
| 214 |
+
"axisAlignedBoundingBox": {
|
| 215 |
+
"cornerPoints": [
|
| 216 |
+
[
|
| 217 |
+
1.5533244609832764,
|
| 218 |
+
0.5393394231796265,
|
| 219 |
+
11.52400016784668
|
| 220 |
+
],
|
| 221 |
+
[
|
| 222 |
+
1.5533244609832764,
|
| 223 |
+
0.5393394231796265,
|
| 224 |
+
11.375993728637695
|
| 225 |
+
],
|
| 226 |
+
[
|
| 227 |
+
1.5533244609832764,
|
| 228 |
+
-5.066394805908203e-07,
|
| 229 |
+
11.52400016784668
|
| 230 |
+
],
|
| 231 |
+
[
|
| 232 |
+
1.5533244609832764,
|
| 233 |
+
-5.066394805908203e-07,
|
| 234 |
+
11.375993728637695
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
1.4050254821777344,
|
| 238 |
+
0.5393394231796265,
|
| 239 |
+
11.52400016784668
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
1.4050254821777344,
|
| 243 |
+
0.5393394231796265,
|
| 244 |
+
11.375993728637695
|
| 245 |
+
],
|
| 246 |
+
[
|
| 247 |
+
1.4050254821777344,
|
| 248 |
+
-5.066394805908203e-07,
|
| 249 |
+
11.52400016784668
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
1.4050254821777344,
|
| 253 |
+
-5.066394805908203e-07,
|
| 254 |
+
11.375993728637695
|
| 255 |
+
]
|
| 256 |
+
],
|
| 257 |
+
"center": {
|
| 258 |
+
"x": 1.4791749715805054,
|
| 259 |
+
"y": 0.26966944336891174,
|
| 260 |
+
"z": 11.449996948242188
|
| 261 |
+
},
|
| 262 |
+
"size": {
|
| 263 |
+
"x": 0.148298978805542,
|
| 264 |
+
"y": 0.5393399000167847,
|
| 265 |
+
"z": 0.14800643920898438
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
"objectOrientedBoundingBox": {
|
| 269 |
+
"cornerPoints": [
|
| 270 |
+
[
|
| 271 |
+
1.4050257205963135,
|
| 272 |
+
1.755222911015153e-06,
|
| 273 |
+
11.375992774963379
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
1.5533227920532227,
|
| 277 |
+
-5.070760380476713e-07,
|
| 278 |
+
11.375993728637695
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
1.5533225536346436,
|
| 282 |
+
9.310315363109112e-08,
|
| 283 |
+
11.52400016784668
|
| 284 |
+
],
|
| 285 |
+
[
|
| 286 |
+
1.4050254821777344,
|
| 287 |
+
2.3554021026939154e-06,
|
| 288 |
+
11.523999214172363
|
| 289 |
+
],
|
| 290 |
+
[
|
| 291 |
+
1.4050339460372925,
|
| 292 |
+
0.5393400192260742,
|
| 293 |
+
11.375990867614746
|
| 294 |
+
],
|
| 295 |
+
[
|
| 296 |
+
1.5533310174942017,
|
| 297 |
+
0.5393377542495728,
|
| 298 |
+
11.375990867614746
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
1.5533307790756226,
|
| 302 |
+
0.5393383502960205,
|
| 303 |
+
11.52399730682373
|
| 304 |
+
],
|
| 305 |
+
[
|
| 306 |
+
1.4050337076187134,
|
| 307 |
+
0.539340615272522,
|
| 308 |
+
11.52399730682373
|
| 309 |
+
]
|
| 310 |
+
]
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
{
|
| 315 |
+
"objectId": "SoapBar|surface|5|47",
|
| 316 |
+
"object_info": {
|
| 317 |
+
"name": "SoapBar|surface|5|47",
|
| 318 |
+
"position": {
|
| 319 |
+
"x": 0.4175986051559448,
|
| 320 |
+
"y": 1.037503719329834,
|
| 321 |
+
"z": 11.405169486999512
|
| 322 |
+
},
|
| 323 |
+
"rotation": {
|
| 324 |
+
"x": 0.2979035973548889,
|
| 325 |
+
"y": 180.0006103515625,
|
| 326 |
+
"z": 0.0006516455323435366
|
| 327 |
+
},
|
| 328 |
+
"visible": false,
|
| 329 |
+
"isInteractable": false,
|
| 330 |
+
"receptacle": false,
|
| 331 |
+
"toggleable": false,
|
| 332 |
+
"isToggled": false,
|
| 333 |
+
"breakable": false,
|
| 334 |
+
"isBroken": false,
|
| 335 |
+
"canFillWithLiquid": false,
|
| 336 |
+
"isFilledWithLiquid": false,
|
| 337 |
+
"fillLiquid": null,
|
| 338 |
+
"dirtyable": false,
|
| 339 |
+
"isDirty": false,
|
| 340 |
+
"canBeUsedUp": false,
|
| 341 |
+
"isUsedUp": false,
|
| 342 |
+
"cookable": false,
|
| 343 |
+
"isCooked": false,
|
| 344 |
+
"temperature": "RoomTemp",
|
| 345 |
+
"isHeatSource": false,
|
| 346 |
+
"isColdSource": false,
|
| 347 |
+
"sliceable": false,
|
| 348 |
+
"isSliced": false,
|
| 349 |
+
"openable": false,
|
| 350 |
+
"isOpen": false,
|
| 351 |
+
"openness": 0.0,
|
| 352 |
+
"pickupable": true,
|
| 353 |
+
"isPickedUp": false,
|
| 354 |
+
"moveable": false,
|
| 355 |
+
"mass": 0.10999999940395355,
|
| 356 |
+
"salientMaterials": [
|
| 357 |
+
"Soap"
|
| 358 |
+
],
|
| 359 |
+
"receptacleObjectIds": null,
|
| 360 |
+
"distance": 2.328861951828003,
|
| 361 |
+
"objectType": "SoapBar",
|
| 362 |
+
"objectId": "SoapBar|surface|5|47",
|
| 363 |
+
"assetId": "Soap_Bar_1",
|
| 364 |
+
"parentReceptacles": [
|
| 365 |
+
"Toilet|5|0"
|
| 366 |
+
],
|
| 367 |
+
"controlledObjects": null,
|
| 368 |
+
"isMoving": false,
|
| 369 |
+
"axisAlignedBoundingBox": {
|
| 370 |
+
"cornerPoints": [
|
| 371 |
+
[
|
| 372 |
+
0.4448854923248291,
|
| 373 |
+
1.0621978044509888,
|
| 374 |
+
11.450896263122559
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
0.4448854923248291,
|
| 378 |
+
1.0621978044509888,
|
| 379 |
+
11.3593168258667
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
0.4448854923248291,
|
| 383 |
+
1.037084698677063,
|
| 384 |
+
11.450896263122559
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
0.4448854923248291,
|
| 388 |
+
1.037084698677063,
|
| 389 |
+
11.3593168258667
|
| 390 |
+
],
|
| 391 |
+
[
|
| 392 |
+
0.3903120160102844,
|
| 393 |
+
1.0621978044509888,
|
| 394 |
+
11.450896263122559
|
| 395 |
+
],
|
| 396 |
+
[
|
| 397 |
+
0.3903120160102844,
|
| 398 |
+
1.0621978044509888,
|
| 399 |
+
11.3593168258667
|
| 400 |
+
],
|
| 401 |
+
[
|
| 402 |
+
0.3903120160102844,
|
| 403 |
+
1.037084698677063,
|
| 404 |
+
11.450896263122559
|
| 405 |
+
],
|
| 406 |
+
[
|
| 407 |
+
0.3903120160102844,
|
| 408 |
+
1.037084698677063,
|
| 409 |
+
11.3593168258667
|
| 410 |
+
]
|
| 411 |
+
],
|
| 412 |
+
"center": {
|
| 413 |
+
"x": 0.41759875416755676,
|
| 414 |
+
"y": 1.0496412515640259,
|
| 415 |
+
"z": 11.405106544494629
|
| 416 |
+
},
|
| 417 |
+
"size": {
|
| 418 |
+
"x": 0.05457347631454468,
|
| 419 |
+
"y": 0.02511310577392578,
|
| 420 |
+
"z": 0.09157943725585938
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"objectOrientedBoundingBox": {
|
| 424 |
+
"cornerPoints": [
|
| 425 |
+
[
|
| 426 |
+
0.3903120160102844,
|
| 427 |
+
1.0370851755142212,
|
| 428 |
+
11.359445571899414
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
0.44488421082496643,
|
| 432 |
+
1.0370845794677734,
|
| 433 |
+
11.359444618225098
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
0.4448851943016052,
|
| 437 |
+
1.0375601053237915,
|
| 438 |
+
11.450895309448242
|
| 439 |
+
],
|
| 440 |
+
[
|
| 441 |
+
0.3903129994869232,
|
| 442 |
+
1.0375607013702393,
|
| 443 |
+
11.450896263122559
|
| 444 |
+
],
|
| 445 |
+
[
|
| 446 |
+
0.3903122842311859,
|
| 447 |
+
1.0617221593856812,
|
| 448 |
+
11.359317779541016
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
0.4448844790458679,
|
| 452 |
+
1.0617215633392334,
|
| 453 |
+
11.3593168258667
|
| 454 |
+
],
|
| 455 |
+
[
|
| 456 |
+
0.4448854625225067,
|
| 457 |
+
1.0621970891952515,
|
| 458 |
+
11.450767517089844
|
| 459 |
+
],
|
| 460 |
+
[
|
| 461 |
+
0.3903132677078247,
|
| 462 |
+
1.0621976852416992,
|
| 463 |
+
11.450767517089844
|
| 464 |
+
]
|
| 465 |
+
]
|
| 466 |
+
}
|
| 467 |
+
}
|
| 468 |
+
},
|
| 469 |
+
{
|
| 470 |
+
"objectId": "GarbageCan|5|2",
|
| 471 |
+
"object_info": {
|
| 472 |
+
"name": "GarbageCan|5|2",
|
| 473 |
+
"position": {
|
| 474 |
+
"x": 3.636021614074707,
|
| 475 |
+
"y": -0.032638683915138245,
|
| 476 |
+
"z": 9.863131523132324
|
| 477 |
+
},
|
| 478 |
+
"rotation": {
|
| 479 |
+
"x": -3.652619489002973e-05,
|
| 480 |
+
"y": 270.0002746582031,
|
| 481 |
+
"z": 1.1019371413567569e-05
|
| 482 |
+
},
|
| 483 |
+
"visible": false,
|
| 484 |
+
"isInteractable": false,
|
| 485 |
+
"receptacle": true,
|
| 486 |
+
"toggleable": false,
|
| 487 |
+
"isToggled": false,
|
| 488 |
+
"breakable": false,
|
| 489 |
+
"isBroken": false,
|
| 490 |
+
"canFillWithLiquid": false,
|
| 491 |
+
"isFilledWithLiquid": false,
|
| 492 |
+
"fillLiquid": null,
|
| 493 |
+
"dirtyable": false,
|
| 494 |
+
"isDirty": false,
|
| 495 |
+
"canBeUsedUp": false,
|
| 496 |
+
"isUsedUp": false,
|
| 497 |
+
"cookable": false,
|
| 498 |
+
"isCooked": false,
|
| 499 |
+
"temperature": "RoomTemp",
|
| 500 |
+
"isHeatSource": false,
|
| 501 |
+
"isColdSource": false,
|
| 502 |
+
"sliceable": false,
|
| 503 |
+
"isSliced": false,
|
| 504 |
+
"openable": false,
|
| 505 |
+
"isOpen": false,
|
| 506 |
+
"openness": 0.0,
|
| 507 |
+
"pickupable": false,
|
| 508 |
+
"isPickedUp": false,
|
| 509 |
+
"moveable": true,
|
| 510 |
+
"mass": 0.699999988079071,
|
| 511 |
+
"salientMaterials": [
|
| 512 |
+
"Plastic"
|
| 513 |
+
],
|
| 514 |
+
"receptacleObjectIds": [],
|
| 515 |
+
"distance": 2.135561466217041,
|
| 516 |
+
"objectType": "GarbageCan",
|
| 517 |
+
"objectId": "GarbageCan|5|2",
|
| 518 |
+
"assetId": "bin_17",
|
| 519 |
+
"parentReceptacles": [
|
| 520 |
+
"Floor"
|
| 521 |
+
],
|
| 522 |
+
"controlledObjects": null,
|
| 523 |
+
"isMoving": false,
|
| 524 |
+
"axisAlignedBoundingBox": {
|
| 525 |
+
"cornerPoints": [
|
| 526 |
+
[
|
| 527 |
+
3.82499361038208,
|
| 528 |
+
0.5611541271209717,
|
| 529 |
+
10.145074844360352
|
| 530 |
+
],
|
| 531 |
+
[
|
| 532 |
+
3.82499361038208,
|
| 533 |
+
0.5611541271209717,
|
| 534 |
+
9.577098846435547
|
| 535 |
+
],
|
| 536 |
+
[
|
| 537 |
+
3.82499361038208,
|
| 538 |
+
3.2782554626464844e-07,
|
| 539 |
+
10.145074844360352
|
| 540 |
+
],
|
| 541 |
+
[
|
| 542 |
+
3.82499361038208,
|
| 543 |
+
3.2782554626464844e-07,
|
| 544 |
+
9.577098846435547
|
| 545 |
+
],
|
| 546 |
+
[
|
| 547 |
+
3.4075722694396973,
|
| 548 |
+
0.5611541271209717,
|
| 549 |
+
10.145074844360352
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
3.4075722694396973,
|
| 553 |
+
0.5611541271209717,
|
| 554 |
+
9.577098846435547
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
3.4075722694396973,
|
| 558 |
+
3.2782554626464844e-07,
|
| 559 |
+
10.145074844360352
|
| 560 |
+
],
|
| 561 |
+
[
|
| 562 |
+
3.4075722694396973,
|
| 563 |
+
3.2782554626464844e-07,
|
| 564 |
+
9.577098846435547
|
| 565 |
+
]
|
| 566 |
+
],
|
| 567 |
+
"center": {
|
| 568 |
+
"x": 3.6162829399108887,
|
| 569 |
+
"y": 0.2805772125720978,
|
| 570 |
+
"z": 9.86108684539795
|
| 571 |
+
},
|
| 572 |
+
"size": {
|
| 573 |
+
"x": 0.4174213409423828,
|
| 574 |
+
"y": 0.561153769493103,
|
| 575 |
+
"z": 0.5679759979248047
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
"objectOrientedBoundingBox": {
|
| 579 |
+
"cornerPoints": [
|
| 580 |
+
[
|
| 581 |
+
3.40757155418396,
|
| 582 |
+
-1.8998980522155762e-06,
|
| 583 |
+
10.145078659057617
|
| 584 |
+
],
|
| 585 |
+
[
|
| 586 |
+
3.40756893157959,
|
| 587 |
+
-2.0116567611694336e-06,
|
| 588 |
+
9.57709789276123
|
| 589 |
+
],
|
| 590 |
+
[
|
| 591 |
+
3.8249926567077637,
|
| 592 |
+
-2.2761523723602295e-06,
|
| 593 |
+
9.577095985412598
|
| 594 |
+
],
|
| 595 |
+
[
|
| 596 |
+
3.824995279312134,
|
| 597 |
+
-2.164393663406372e-06,
|
| 598 |
+
10.145075798034668
|
| 599 |
+
],
|
| 600 |
+
[
|
| 601 |
+
3.407571792602539,
|
| 602 |
+
0.5611568093299866,
|
| 603 |
+
10.1450777053833
|
| 604 |
+
],
|
| 605 |
+
[
|
| 606 |
+
3.407569169998169,
|
| 607 |
+
0.561156690120697,
|
| 608 |
+
9.57709789276123
|
| 609 |
+
],
|
| 610 |
+
[
|
| 611 |
+
3.824993133544922,
|
| 612 |
+
0.5611564517021179,
|
| 613 |
+
9.577095985412598
|
| 614 |
+
],
|
| 615 |
+
[
|
| 616 |
+
3.824995756149292,
|
| 617 |
+
0.5611565709114075,
|
| 618 |
+
10.145075798034668
|
| 619 |
+
]
|
| 620 |
+
]
|
| 621 |
+
}
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
{
|
| 625 |
+
"objectId": "Sink|5|1|0",
|
| 626 |
+
"object_info": {
|
| 627 |
+
"name": "Sink|5|1|0",
|
| 628 |
+
"position": {
|
| 629 |
+
"x": 3.535754919052124,
|
| 630 |
+
"y": 0.0,
|
| 631 |
+
"z": 11.106541633605957
|
| 632 |
+
},
|
| 633 |
+
"rotation": {
|
| 634 |
+
"x": 0.0,
|
| 635 |
+
"y": 270.0,
|
| 636 |
+
"z": 0.0
|
| 637 |
+
},
|
| 638 |
+
"visible": false,
|
| 639 |
+
"isInteractable": false,
|
| 640 |
+
"receptacle": true,
|
| 641 |
+
"toggleable": false,
|
| 642 |
+
"isToggled": false,
|
| 643 |
+
"breakable": false,
|
| 644 |
+
"isBroken": false,
|
| 645 |
+
"canFillWithLiquid": false,
|
| 646 |
+
"isFilledWithLiquid": false,
|
| 647 |
+
"fillLiquid": null,
|
| 648 |
+
"dirtyable": false,
|
| 649 |
+
"isDirty": false,
|
| 650 |
+
"canBeUsedUp": false,
|
| 651 |
+
"isUsedUp": false,
|
| 652 |
+
"cookable": false,
|
| 653 |
+
"isCooked": false,
|
| 654 |
+
"temperature": "RoomTemp",
|
| 655 |
+
"isHeatSource": false,
|
| 656 |
+
"isColdSource": false,
|
| 657 |
+
"sliceable": false,
|
| 658 |
+
"isSliced": false,
|
| 659 |
+
"openable": false,
|
| 660 |
+
"isOpen": false,
|
| 661 |
+
"openness": 0.0,
|
| 662 |
+
"pickupable": false,
|
| 663 |
+
"isPickedUp": false,
|
| 664 |
+
"moveable": false,
|
| 665 |
+
"mass": 0.0,
|
| 666 |
+
"salientMaterials": null,
|
| 667 |
+
"receptacleObjectIds": [
|
| 668 |
+
"Faucet|5|1|1"
|
| 669 |
+
],
|
| 670 |
+
"distance": 2.5654819011688232,
|
| 671 |
+
"objectType": "Sink",
|
| 672 |
+
"objectId": "Sink|5|1|0",
|
| 673 |
+
"assetId": "Sink_26",
|
| 674 |
+
"parentReceptacles": [
|
| 675 |
+
"Floor"
|
| 676 |
+
],
|
| 677 |
+
"controlledObjects": null,
|
| 678 |
+
"isMoving": false,
|
| 679 |
+
"axisAlignedBoundingBox": {
|
| 680 |
+
"cornerPoints": [
|
| 681 |
+
[
|
| 682 |
+
3.825000047683716,
|
| 683 |
+
0.9855988025665283,
|
| 684 |
+
11.52400016784668
|
| 685 |
+
],
|
| 686 |
+
[
|
| 687 |
+
3.825000047683716,
|
| 688 |
+
0.9855988025665283,
|
| 689 |
+
10.689083099365234
|
| 690 |
+
],
|
| 691 |
+
[
|
| 692 |
+
3.825000047683716,
|
| 693 |
+
0.0,
|
| 694 |
+
11.52400016784668
|
| 695 |
+
],
|
| 696 |
+
[
|
| 697 |
+
3.825000047683716,
|
| 698 |
+
0.0,
|
| 699 |
+
10.689083099365234
|
| 700 |
+
],
|
| 701 |
+
[
|
| 702 |
+
3.18265700340271,
|
| 703 |
+
0.9855988025665283,
|
| 704 |
+
11.52400016784668
|
| 705 |
+
],
|
| 706 |
+
[
|
| 707 |
+
3.18265700340271,
|
| 708 |
+
0.9855988025665283,
|
| 709 |
+
10.689083099365234
|
| 710 |
+
],
|
| 711 |
+
[
|
| 712 |
+
3.18265700340271,
|
| 713 |
+
0.0,
|
| 714 |
+
11.52400016784668
|
| 715 |
+
],
|
| 716 |
+
[
|
| 717 |
+
3.18265700340271,
|
| 718 |
+
0.0,
|
| 719 |
+
10.689083099365234
|
| 720 |
+
]
|
| 721 |
+
],
|
| 722 |
+
"center": {
|
| 723 |
+
"x": 3.503828525543213,
|
| 724 |
+
"y": 0.49279940128326416,
|
| 725 |
+
"z": 11.106541633605957
|
| 726 |
+
},
|
| 727 |
+
"size": {
|
| 728 |
+
"x": 0.6423430442810059,
|
| 729 |
+
"y": 0.9855988025665283,
|
| 730 |
+
"z": 0.8349170684814453
|
| 731 |
+
}
|
| 732 |
+
},
|
| 733 |
+
"objectOrientedBoundingBox": null
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
{
|
| 737 |
+
"objectId": "Toilet|5|0",
|
| 738 |
+
"object_info": {
|
| 739 |
+
"name": "Toilet|5|0",
|
| 740 |
+
"position": {
|
| 741 |
+
"x": 0.28989943861961365,
|
| 742 |
+
"y": 0.0017688274383544922,
|
| 743 |
+
"z": 11.05154037475586
|
| 744 |
+
},
|
| 745 |
+
"rotation": {
|
| 746 |
+
"x": 0.0,
|
| 747 |
+
"y": 180.0,
|
| 748 |
+
"z": 0.0
|
| 749 |
+
},
|
| 750 |
+
"visible": false,
|
| 751 |
+
"isInteractable": false,
|
| 752 |
+
"receptacle": true,
|
| 753 |
+
"toggleable": false,
|
| 754 |
+
"isToggled": false,
|
| 755 |
+
"breakable": false,
|
| 756 |
+
"isBroken": false,
|
| 757 |
+
"canFillWithLiquid": false,
|
| 758 |
+
"isFilledWithLiquid": false,
|
| 759 |
+
"fillLiquid": null,
|
| 760 |
+
"dirtyable": false,
|
| 761 |
+
"isDirty": false,
|
| 762 |
+
"canBeUsedUp": false,
|
| 763 |
+
"isUsedUp": false,
|
| 764 |
+
"cookable": false,
|
| 765 |
+
"isCooked": false,
|
| 766 |
+
"temperature": "RoomTemp",
|
| 767 |
+
"isHeatSource": false,
|
| 768 |
+
"isColdSource": false,
|
| 769 |
+
"sliceable": false,
|
| 770 |
+
"isSliced": false,
|
| 771 |
+
"openable": true,
|
| 772 |
+
"isOpen": false,
|
| 773 |
+
"openness": 0.0,
|
| 774 |
+
"pickupable": false,
|
| 775 |
+
"isPickedUp": false,
|
| 776 |
+
"moveable": false,
|
| 777 |
+
"mass": 0.0,
|
| 778 |
+
"salientMaterials": null,
|
| 779 |
+
"receptacleObjectIds": [
|
| 780 |
+
"ToiletPaper|surface|5|48",
|
| 781 |
+
"SoapBar|surface|5|47"
|
| 782 |
+
],
|
| 783 |
+
"distance": 2.312528371810913,
|
| 784 |
+
"objectType": "Toilet",
|
| 785 |
+
"objectId": "Toilet|5|0",
|
| 786 |
+
"assetId": "Toilet_1",
|
| 787 |
+
"parentReceptacles": [
|
| 788 |
+
"Floor"
|
| 789 |
+
],
|
| 790 |
+
"controlledObjects": null,
|
| 791 |
+
"isMoving": false,
|
| 792 |
+
"axisAlignedBoundingBox": {
|
| 793 |
+
"cornerPoints": [
|
| 794 |
+
[
|
| 795 |
+
0.5544841289520264,
|
| 796 |
+
1.0379130840301514,
|
| 797 |
+
11.523999214172363
|
| 798 |
+
],
|
| 799 |
+
[
|
| 800 |
+
0.5544841289520264,
|
| 801 |
+
1.0379130840301514,
|
| 802 |
+
10.551131248474121
|
| 803 |
+
],
|
| 804 |
+
[
|
| 805 |
+
0.5544841289520264,
|
| 806 |
+
0.0,
|
| 807 |
+
11.523999214172363
|
| 808 |
+
],
|
| 809 |
+
[
|
| 810 |
+
0.5544841289520264,
|
| 811 |
+
0.0,
|
| 812 |
+
10.551131248474121
|
| 813 |
+
],
|
| 814 |
+
[
|
| 815 |
+
0.02499985694885254,
|
| 816 |
+
1.0379130840301514,
|
| 817 |
+
11.523999214172363
|
| 818 |
+
],
|
| 819 |
+
[
|
| 820 |
+
0.02499985694885254,
|
| 821 |
+
1.0379130840301514,
|
| 822 |
+
10.551131248474121
|
| 823 |
+
],
|
| 824 |
+
[
|
| 825 |
+
0.02499985694885254,
|
| 826 |
+
0.0,
|
| 827 |
+
11.523999214172363
|
| 828 |
+
],
|
| 829 |
+
[
|
| 830 |
+
0.02499985694885254,
|
| 831 |
+
0.0,
|
| 832 |
+
10.551131248474121
|
| 833 |
+
]
|
| 834 |
+
],
|
| 835 |
+
"center": {
|
| 836 |
+
"x": 0.28974199295043945,
|
| 837 |
+
"y": 0.5189565420150757,
|
| 838 |
+
"z": 11.037565231323242
|
| 839 |
+
},
|
| 840 |
+
"size": {
|
| 841 |
+
"x": 0.5294842720031738,
|
| 842 |
+
"y": 1.0379130840301514,
|
| 843 |
+
"z": 0.9728679656982422
|
| 844 |
+
}
|
| 845 |
+
},
|
| 846 |
+
"objectOrientedBoundingBox": null
|
| 847 |
+
}
|
| 848 |
+
}
|
| 849 |
+
],
|
| 850 |
+
"Agent": {
|
| 851 |
+
"agent_position": {
|
| 852 |
+
"x": 1.7000000476837158,
|
| 853 |
+
"y": 0.9009997844696045,
|
| 854 |
+
"z": 10.0
|
| 855 |
+
},
|
| 856 |
+
"agent_rotation": {
|
| 857 |
+
"x": -0.0,
|
| 858 |
+
"y": 0.0,
|
| 859 |
+
"z": 0.0
|
| 860 |
+
},
|
| 861 |
+
"agent_cameraHorizon": 60.00001525878906,
|
| 862 |
+
"agent_isStanding": true,
|
| 863 |
+
"agent_inHighFrictionArea": false
|
| 864 |
+
},
|
| 865 |
+
"camera_info": {
|
| 866 |
+
"cameraPosition": {
|
| 867 |
+
"x": 1.7000000476837158,
|
| 868 |
+
"y": 1.5759997367858887,
|
| 869 |
+
"z": 10.0
|
| 870 |
+
},
|
| 871 |
+
"cameraOrthSize": -1.0,
|
| 872 |
+
"fov": 90.0
|
| 873 |
+
},
|
| 874 |
+
"common_object": [
|
| 875 |
+
"Sink|5|1|0",
|
| 876 |
+
"GarbageCan|5|2"
|
| 877 |
+
],
|
| 878 |
+
"different_object": [
|
| 879 |
+
"SoapBar|surface|5|47",
|
| 880 |
+
"Plunger|5|3",
|
| 881 |
+
"ToiletPaper|surface|5|48",
|
| 882 |
+
"Toilet|5|0"
|
| 883 |
+
]
|
| 884 |
+
}
|
train/train1259/1/1_depth_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:990377212ff6494ae483695112970b83bff25fba5330457fc6ca972743a90e7b
|
| 3 |
+
size 3145856
|
train/train1259/1/1_semantic_sensor_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d2149c3afd93cd0cec2af2863e65624b3e76227e5079ac04ca91e492b417c703
|
| 3 |
+
size 2359424
|
train/train1259/1/depth_0.png
ADDED
|
train/train1259/1/depth_1.png
ADDED
|
train/train1259/1/mask_questions.jsonl
ADDED
|
File without changes
|
train/train1259/1/questions_direction.jsonl
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"id": 18773, "folder_dir": "train1259/1", "pair_name": "Faucet-ToiletPaper", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Faucet. Where is the centroid position of ToiletPaper 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": "Faucet", "tgt_object": "ToiletPaper", "src_com": {"x": 3.712291955947876, "y": 1.0879449844360352, "z": 11.106541633605957}, "tgt_com": {"x": 0.22034813463687897, "y": 1.0967808961868286, "z": 11.313148498535156}, "agent_pos": {"x": 1.7000000476837158, "y": 1.5759997367858887, "z": 10.0}, "image_1": "train1259/1/rgb_0.png", "image_2": "train1259/1/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
|
| 2 |
+
{"id": 18774, "folder_dir": "train1259/1", "pair_name": "Faucet-Plunger", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Faucet. Where is the centroid position of Plunger in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Faucet", "tgt_object": "Plunger", "src_com": {"x": 3.712291955947876, "y": 1.0879449844360352, "z": 11.106541633605957}, "tgt_com": {"x": 1.4791749715805054, "y": 0.26966944336891174, "z": 11.449996948242188}, "agent_pos": {"x": 1.7000000476837158, "y": 1.5759997367858887, "z": 10.0}, "image_1": "train1259/1/rgb_0.png", "image_2": "train1259/1/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
|
| 3 |
+
{"id": 18775, "folder_dir": "train1259/1", "pair_name": "Faucet-Toilet", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Faucet. Where is the centroid position of Toilet 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": "Faucet", "tgt_object": "Toilet", "src_com": {"x": 3.712291955947876, "y": 1.0879449844360352, "z": 11.106541633605957}, "tgt_com": {"x": 0.28974199295043945, "y": 0.5189565420150757, "z": 11.037565231323242}, "agent_pos": {"x": 1.7000000476837158, "y": 1.5759997367858887, "z": 10.0}, "image_1": "train1259/1/rgb_0.png", "image_2": "train1259/1/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
|
| 4 |
+
{"id": 18776, "folder_dir": "train1259/1", "pair_name": "ToiletPaper-Faucet", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ToiletPaper. Where is the centroid position of Faucet 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": "ToiletPaper", "tgt_object": "Faucet", "src_com": {"x": 0.22034813463687897, "y": 1.0967808961868286, "z": 11.313148498535156}, "tgt_com": {"x": 3.712291955947876, "y": 1.0879449844360352, "z": 11.106541633605957}, "agent_pos": {"x": 1.7000000476837158, "y": 1.5759997367858887, "z": 10.0}, "image_1": "train1259/1/rgb_1.png", "image_2": "train1259/1/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
|
| 5 |
+
{"id": 18777, "folder_dir": "train1259/1", "pair_name": "Plunger-Faucet", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plunger. Where is the centroid position of Faucet in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Plunger", "tgt_object": "Faucet", "src_com": {"x": 1.4791749715805054, "y": 0.26966944336891174, "z": 11.449996948242188}, "tgt_com": {"x": 3.712291955947876, "y": 1.0879449844360352, "z": 11.106541633605957}, "agent_pos": {"x": 1.7000000476837158, "y": 1.5759997367858887, "z": 10.0}, "image_1": "train1259/1/rgb_1.png", "image_2": "train1259/1/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
|
| 6 |
+
{"id": 18778, "folder_dir": "train1259/1", "pair_name": "Toilet-Faucet", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toilet. Where is the centroid position of Faucet 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": "Toilet", "tgt_object": "Faucet", "src_com": {"x": 0.28974199295043945, "y": 0.5189565420150757, "z": 11.037565231323242}, "tgt_com": {"x": 3.712291955947876, "y": 1.0879449844360352, "z": 11.106541633605957}, "agent_pos": {"x": 1.7000000476837158, "y": 1.5759997367858887, "z": 10.0}, "image_1": "train1259/1/rgb_1.png", "image_2": "train1259/1/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]}
|
train/train1259/1/rgb_0.png
ADDED
|
Git LFS Details
|
train/train1259/1/rgb_1.png
ADDED
|
Git LFS Details
|
train/train1259/1/semantic_0.png
ADDED
|
train/train1259/1/semantic_1.png
ADDED
|
train/train1259/2/0.json
ADDED
|
@@ -0,0 +1,837 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object": [
|
| 3 |
+
{
|
| 4 |
+
"objectId": "ToiletPaper|surface|5|48",
|
| 5 |
+
"object_info": {
|
| 6 |
+
"name": "ToiletPaper|surface|5|48",
|
| 7 |
+
"position": {
|
| 8 |
+
"x": 0.22087982296943665,
|
| 9 |
+
"y": 1.0354818105697632,
|
| 10 |
+
"z": 11.313288688659668
|
| 11 |
+
},
|
| 12 |
+
"rotation": {
|
| 13 |
+
"x": 0.1303512006998062,
|
| 14 |
+
"y": 179.99574279785156,
|
| 15 |
+
"z": 0.15781132876873016
|
| 16 |
+
},
|
| 17 |
+
"visible": false,
|
| 18 |
+
"isInteractable": false,
|
| 19 |
+
"receptacle": false,
|
| 20 |
+
"toggleable": false,
|
| 21 |
+
"isToggled": false,
|
| 22 |
+
"breakable": false,
|
| 23 |
+
"isBroken": false,
|
| 24 |
+
"canFillWithLiquid": false,
|
| 25 |
+
"isFilledWithLiquid": false,
|
| 26 |
+
"fillLiquid": null,
|
| 27 |
+
"dirtyable": false,
|
| 28 |
+
"isDirty": false,
|
| 29 |
+
"canBeUsedUp": false,
|
| 30 |
+
"isUsedUp": false,
|
| 31 |
+
"cookable": false,
|
| 32 |
+
"isCooked": false,
|
| 33 |
+
"temperature": "RoomTemp",
|
| 34 |
+
"isHeatSource": false,
|
| 35 |
+
"isColdSource": false,
|
| 36 |
+
"sliceable": false,
|
| 37 |
+
"isSliced": false,
|
| 38 |
+
"openable": false,
|
| 39 |
+
"isOpen": false,
|
| 40 |
+
"openness": 0.0,
|
| 41 |
+
"pickupable": true,
|
| 42 |
+
"isPickedUp": false,
|
| 43 |
+
"moveable": false,
|
| 44 |
+
"mass": 0.20000000298023224,
|
| 45 |
+
"salientMaterials": [
|
| 46 |
+
"Paper"
|
| 47 |
+
],
|
| 48 |
+
"receptacleObjectIds": null,
|
| 49 |
+
"distance": 2.3757755756378174,
|
| 50 |
+
"objectType": "ToiletPaper",
|
| 51 |
+
"objectId": "ToiletPaper|surface|5|48",
|
| 52 |
+
"assetId": "Toilet_Paper",
|
| 53 |
+
"parentReceptacles": [
|
| 54 |
+
"Toilet|5|0"
|
| 55 |
+
],
|
| 56 |
+
"controlledObjects": null,
|
| 57 |
+
"isMoving": false,
|
| 58 |
+
"axisAlignedBoundingBox": {
|
| 59 |
+
"cornerPoints": [
|
| 60 |
+
[
|
| 61 |
+
0.27252668142318726,
|
| 62 |
+
1.1560850143432617,
|
| 63 |
+
11.365324020385742
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.27252668142318726,
|
| 67 |
+
1.1560850143432617,
|
| 68 |
+
11.26097297668457
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
0.27252668142318726,
|
| 72 |
+
1.0374767780303955,
|
| 73 |
+
11.365324020385742
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.27252668142318726,
|
| 77 |
+
1.0374767780303955,
|
| 78 |
+
11.26097297668457
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.16816958785057068,
|
| 82 |
+
1.1560850143432617,
|
| 83 |
+
11.365324020385742
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
0.16816958785057068,
|
| 87 |
+
1.1560850143432617,
|
| 88 |
+
11.26097297668457
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.16816958785057068,
|
| 92 |
+
1.0374767780303955,
|
| 93 |
+
11.365324020385742
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.16816958785057068,
|
| 97 |
+
1.0374767780303955,
|
| 98 |
+
11.26097297668457
|
| 99 |
+
]
|
| 100 |
+
],
|
| 101 |
+
"center": {
|
| 102 |
+
"x": 0.22034813463687897,
|
| 103 |
+
"y": 1.0967808961868286,
|
| 104 |
+
"z": 11.313148498535156
|
| 105 |
+
},
|
| 106 |
+
"size": {
|
| 107 |
+
"x": 0.10435709357261658,
|
| 108 |
+
"y": 0.11860823631286621,
|
| 109 |
+
"z": 0.10435104370117188
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"objectOrientedBoundingBox": {
|
| 113 |
+
"cornerPoints": [
|
| 114 |
+
[
|
| 115 |
+
0.16802997887134552,
|
| 116 |
+
1.0375020503997803,
|
| 117 |
+
11.261120796203613
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
0.27234840393066406,
|
| 121 |
+
1.037214756011963,
|
| 122 |
+
11.261129379272461
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.27234065532684326,
|
| 126 |
+
1.037451982498169,
|
| 127 |
+
11.365447998046875
|
| 128 |
+
],
|
| 129 |
+
[
|
| 130 |
+
0.1680222451686859,
|
| 131 |
+
1.0377393960952759,
|
| 132 |
+
11.365439414978027
|
| 133 |
+
],
|
| 134 |
+
[
|
| 135 |
+
0.1683564931154251,
|
| 136 |
+
1.1560392379760742,
|
| 137 |
+
11.26085090637207
|
| 138 |
+
],
|
| 139 |
+
[
|
| 140 |
+
0.27267491817474365,
|
| 141 |
+
1.1557519435882568,
|
| 142 |
+
11.260859489440918
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.27266716957092285,
|
| 146 |
+
1.1559892892837524,
|
| 147 |
+
11.365178108215332
|
| 148 |
+
],
|
| 149 |
+
[
|
| 150 |
+
0.1683487445116043,
|
| 151 |
+
1.1562765836715698,
|
| 152 |
+
11.365169525146484
|
| 153 |
+
]
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"objectId": "Plunger|5|3",
|
| 160 |
+
"object_info": {
|
| 161 |
+
"name": "Plunger|5|3",
|
| 162 |
+
"position": {
|
| 163 |
+
"x": 1.4791741371154785,
|
| 164 |
+
"y": -0.00046303868293762207,
|
| 165 |
+
"z": 11.449926376342773
|
| 166 |
+
},
|
| 167 |
+
"rotation": {
|
| 168 |
+
"x": 0.00023233394313137978,
|
| 169 |
+
"y": 179.99989318847656,
|
| 170 |
+
"z": 0.0008740525227040052
|
| 171 |
+
},
|
| 172 |
+
"visible": false,
|
| 173 |
+
"isInteractable": false,
|
| 174 |
+
"receptacle": false,
|
| 175 |
+
"toggleable": false,
|
| 176 |
+
"isToggled": false,
|
| 177 |
+
"breakable": false,
|
| 178 |
+
"isBroken": false,
|
| 179 |
+
"canFillWithLiquid": false,
|
| 180 |
+
"isFilledWithLiquid": false,
|
| 181 |
+
"fillLiquid": null,
|
| 182 |
+
"dirtyable": false,
|
| 183 |
+
"isDirty": false,
|
| 184 |
+
"canBeUsedUp": false,
|
| 185 |
+
"isUsedUp": false,
|
| 186 |
+
"cookable": false,
|
| 187 |
+
"isCooked": false,
|
| 188 |
+
"temperature": "RoomTemp",
|
| 189 |
+
"isHeatSource": false,
|
| 190 |
+
"isColdSource": false,
|
| 191 |
+
"sliceable": false,
|
| 192 |
+
"isSliced": false,
|
| 193 |
+
"openable": false,
|
| 194 |
+
"isOpen": false,
|
| 195 |
+
"openness": 0.0,
|
| 196 |
+
"pickupable": true,
|
| 197 |
+
"isPickedUp": false,
|
| 198 |
+
"moveable": false,
|
| 199 |
+
"mass": 1.0,
|
| 200 |
+
"salientMaterials": [
|
| 201 |
+
"Rubber",
|
| 202 |
+
"Wood"
|
| 203 |
+
],
|
| 204 |
+
"receptacleObjectIds": null,
|
| 205 |
+
"distance": 2.1652238368988037,
|
| 206 |
+
"objectType": "Plunger",
|
| 207 |
+
"objectId": "Plunger|5|3",
|
| 208 |
+
"assetId": "Plunger_2",
|
| 209 |
+
"parentReceptacles": [
|
| 210 |
+
"Floor"
|
| 211 |
+
],
|
| 212 |
+
"controlledObjects": null,
|
| 213 |
+
"isMoving": false,
|
| 214 |
+
"axisAlignedBoundingBox": {
|
| 215 |
+
"cornerPoints": [
|
| 216 |
+
[
|
| 217 |
+
1.5533244609832764,
|
| 218 |
+
0.5393394231796265,
|
| 219 |
+
11.52400016784668
|
| 220 |
+
],
|
| 221 |
+
[
|
| 222 |
+
1.5533244609832764,
|
| 223 |
+
0.5393394231796265,
|
| 224 |
+
11.375993728637695
|
| 225 |
+
],
|
| 226 |
+
[
|
| 227 |
+
1.5533244609832764,
|
| 228 |
+
-5.066394805908203e-07,
|
| 229 |
+
11.52400016784668
|
| 230 |
+
],
|
| 231 |
+
[
|
| 232 |
+
1.5533244609832764,
|
| 233 |
+
-5.066394805908203e-07,
|
| 234 |
+
11.375993728637695
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
1.4050254821777344,
|
| 238 |
+
0.5393394231796265,
|
| 239 |
+
11.52400016784668
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
1.4050254821777344,
|
| 243 |
+
0.5393394231796265,
|
| 244 |
+
11.375993728637695
|
| 245 |
+
],
|
| 246 |
+
[
|
| 247 |
+
1.4050254821777344,
|
| 248 |
+
-5.066394805908203e-07,
|
| 249 |
+
11.52400016784668
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
1.4050254821777344,
|
| 253 |
+
-5.066394805908203e-07,
|
| 254 |
+
11.375993728637695
|
| 255 |
+
]
|
| 256 |
+
],
|
| 257 |
+
"center": {
|
| 258 |
+
"x": 1.4791749715805054,
|
| 259 |
+
"y": 0.26966944336891174,
|
| 260 |
+
"z": 11.449996948242188
|
| 261 |
+
},
|
| 262 |
+
"size": {
|
| 263 |
+
"x": 0.148298978805542,
|
| 264 |
+
"y": 0.5393399000167847,
|
| 265 |
+
"z": 0.14800643920898438
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
"objectOrientedBoundingBox": {
|
| 269 |
+
"cornerPoints": [
|
| 270 |
+
[
|
| 271 |
+
1.4050257205963135,
|
| 272 |
+
1.755222911015153e-06,
|
| 273 |
+
11.375992774963379
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
1.5533227920532227,
|
| 277 |
+
-5.070760380476713e-07,
|
| 278 |
+
11.375993728637695
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
1.5533225536346436,
|
| 282 |
+
9.310315363109112e-08,
|
| 283 |
+
11.52400016784668
|
| 284 |
+
],
|
| 285 |
+
[
|
| 286 |
+
1.4050254821777344,
|
| 287 |
+
2.3554021026939154e-06,
|
| 288 |
+
11.523999214172363
|
| 289 |
+
],
|
| 290 |
+
[
|
| 291 |
+
1.4050339460372925,
|
| 292 |
+
0.5393400192260742,
|
| 293 |
+
11.375990867614746
|
| 294 |
+
],
|
| 295 |
+
[
|
| 296 |
+
1.5533310174942017,
|
| 297 |
+
0.5393377542495728,
|
| 298 |
+
11.375990867614746
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
1.5533307790756226,
|
| 302 |
+
0.5393383502960205,
|
| 303 |
+
11.52399730682373
|
| 304 |
+
],
|
| 305 |
+
[
|
| 306 |
+
1.4050337076187134,
|
| 307 |
+
0.539340615272522,
|
| 308 |
+
11.52399730682373
|
| 309 |
+
]
|
| 310 |
+
]
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
{
|
| 315 |
+
"objectId": "SoapBar|surface|5|47",
|
| 316 |
+
"object_info": {
|
| 317 |
+
"name": "SoapBar|surface|5|47",
|
| 318 |
+
"position": {
|
| 319 |
+
"x": 0.4175986051559448,
|
| 320 |
+
"y": 1.037503719329834,
|
| 321 |
+
"z": 11.405169486999512
|
| 322 |
+
},
|
| 323 |
+
"rotation": {
|
| 324 |
+
"x": 0.2979035973548889,
|
| 325 |
+
"y": 180.0006103515625,
|
| 326 |
+
"z": 0.0006516455323435366
|
| 327 |
+
},
|
| 328 |
+
"visible": false,
|
| 329 |
+
"isInteractable": false,
|
| 330 |
+
"receptacle": false,
|
| 331 |
+
"toggleable": false,
|
| 332 |
+
"isToggled": false,
|
| 333 |
+
"breakable": false,
|
| 334 |
+
"isBroken": false,
|
| 335 |
+
"canFillWithLiquid": false,
|
| 336 |
+
"isFilledWithLiquid": false,
|
| 337 |
+
"fillLiquid": null,
|
| 338 |
+
"dirtyable": false,
|
| 339 |
+
"isDirty": false,
|
| 340 |
+
"canBeUsedUp": false,
|
| 341 |
+
"isUsedUp": false,
|
| 342 |
+
"cookable": false,
|
| 343 |
+
"isCooked": false,
|
| 344 |
+
"temperature": "RoomTemp",
|
| 345 |
+
"isHeatSource": false,
|
| 346 |
+
"isColdSource": false,
|
| 347 |
+
"sliceable": false,
|
| 348 |
+
"isSliced": false,
|
| 349 |
+
"openable": false,
|
| 350 |
+
"isOpen": false,
|
| 351 |
+
"openness": 0.0,
|
| 352 |
+
"pickupable": true,
|
| 353 |
+
"isPickedUp": false,
|
| 354 |
+
"moveable": false,
|
| 355 |
+
"mass": 0.10999999940395355,
|
| 356 |
+
"salientMaterials": [
|
| 357 |
+
"Soap"
|
| 358 |
+
],
|
| 359 |
+
"receptacleObjectIds": null,
|
| 360 |
+
"distance": 2.328861951828003,
|
| 361 |
+
"objectType": "SoapBar",
|
| 362 |
+
"objectId": "SoapBar|surface|5|47",
|
| 363 |
+
"assetId": "Soap_Bar_1",
|
| 364 |
+
"parentReceptacles": [
|
| 365 |
+
"Toilet|5|0"
|
| 366 |
+
],
|
| 367 |
+
"controlledObjects": null,
|
| 368 |
+
"isMoving": false,
|
| 369 |
+
"axisAlignedBoundingBox": {
|
| 370 |
+
"cornerPoints": [
|
| 371 |
+
[
|
| 372 |
+
0.4448854923248291,
|
| 373 |
+
1.0621978044509888,
|
| 374 |
+
11.450896263122559
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
0.4448854923248291,
|
| 378 |
+
1.0621978044509888,
|
| 379 |
+
11.3593168258667
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
0.4448854923248291,
|
| 383 |
+
1.037084698677063,
|
| 384 |
+
11.450896263122559
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
0.4448854923248291,
|
| 388 |
+
1.037084698677063,
|
| 389 |
+
11.3593168258667
|
| 390 |
+
],
|
| 391 |
+
[
|
| 392 |
+
0.3903120160102844,
|
| 393 |
+
1.0621978044509888,
|
| 394 |
+
11.450896263122559
|
| 395 |
+
],
|
| 396 |
+
[
|
| 397 |
+
0.3903120160102844,
|
| 398 |
+
1.0621978044509888,
|
| 399 |
+
11.3593168258667
|
| 400 |
+
],
|
| 401 |
+
[
|
| 402 |
+
0.3903120160102844,
|
| 403 |
+
1.037084698677063,
|
| 404 |
+
11.450896263122559
|
| 405 |
+
],
|
| 406 |
+
[
|
| 407 |
+
0.3903120160102844,
|
| 408 |
+
1.037084698677063,
|
| 409 |
+
11.3593168258667
|
| 410 |
+
]
|
| 411 |
+
],
|
| 412 |
+
"center": {
|
| 413 |
+
"x": 0.41759875416755676,
|
| 414 |
+
"y": 1.0496412515640259,
|
| 415 |
+
"z": 11.405106544494629
|
| 416 |
+
},
|
| 417 |
+
"size": {
|
| 418 |
+
"x": 0.05457347631454468,
|
| 419 |
+
"y": 0.02511310577392578,
|
| 420 |
+
"z": 0.09157943725585938
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"objectOrientedBoundingBox": {
|
| 424 |
+
"cornerPoints": [
|
| 425 |
+
[
|
| 426 |
+
0.3903120160102844,
|
| 427 |
+
1.0370851755142212,
|
| 428 |
+
11.359445571899414
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
0.44488421082496643,
|
| 432 |
+
1.0370845794677734,
|
| 433 |
+
11.359444618225098
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
0.4448851943016052,
|
| 437 |
+
1.0375601053237915,
|
| 438 |
+
11.450895309448242
|
| 439 |
+
],
|
| 440 |
+
[
|
| 441 |
+
0.3903129994869232,
|
| 442 |
+
1.0375607013702393,
|
| 443 |
+
11.450896263122559
|
| 444 |
+
],
|
| 445 |
+
[
|
| 446 |
+
0.3903122842311859,
|
| 447 |
+
1.0617221593856812,
|
| 448 |
+
11.359317779541016
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
0.4448844790458679,
|
| 452 |
+
1.0617215633392334,
|
| 453 |
+
11.3593168258667
|
| 454 |
+
],
|
| 455 |
+
[
|
| 456 |
+
0.4448854625225067,
|
| 457 |
+
1.0621970891952515,
|
| 458 |
+
11.450767517089844
|
| 459 |
+
],
|
| 460 |
+
[
|
| 461 |
+
0.3903132677078247,
|
| 462 |
+
1.0621976852416992,
|
| 463 |
+
11.450767517089844
|
| 464 |
+
]
|
| 465 |
+
]
|
| 466 |
+
}
|
| 467 |
+
}
|
| 468 |
+
},
|
| 469 |
+
{
|
| 470 |
+
"objectId": "Sink|5|1|0",
|
| 471 |
+
"object_info": {
|
| 472 |
+
"name": "Sink|5|1|0",
|
| 473 |
+
"position": {
|
| 474 |
+
"x": 3.535754919052124,
|
| 475 |
+
"y": 0.0,
|
| 476 |
+
"z": 11.106541633605957
|
| 477 |
+
},
|
| 478 |
+
"rotation": {
|
| 479 |
+
"x": 0.0,
|
| 480 |
+
"y": 270.0,
|
| 481 |
+
"z": 0.0
|
| 482 |
+
},
|
| 483 |
+
"visible": false,
|
| 484 |
+
"isInteractable": false,
|
| 485 |
+
"receptacle": true,
|
| 486 |
+
"toggleable": false,
|
| 487 |
+
"isToggled": false,
|
| 488 |
+
"breakable": false,
|
| 489 |
+
"isBroken": false,
|
| 490 |
+
"canFillWithLiquid": false,
|
| 491 |
+
"isFilledWithLiquid": false,
|
| 492 |
+
"fillLiquid": null,
|
| 493 |
+
"dirtyable": false,
|
| 494 |
+
"isDirty": false,
|
| 495 |
+
"canBeUsedUp": false,
|
| 496 |
+
"isUsedUp": false,
|
| 497 |
+
"cookable": false,
|
| 498 |
+
"isCooked": false,
|
| 499 |
+
"temperature": "RoomTemp",
|
| 500 |
+
"isHeatSource": false,
|
| 501 |
+
"isColdSource": false,
|
| 502 |
+
"sliceable": false,
|
| 503 |
+
"isSliced": false,
|
| 504 |
+
"openable": false,
|
| 505 |
+
"isOpen": false,
|
| 506 |
+
"openness": 0.0,
|
| 507 |
+
"pickupable": false,
|
| 508 |
+
"isPickedUp": false,
|
| 509 |
+
"moveable": false,
|
| 510 |
+
"mass": 0.0,
|
| 511 |
+
"salientMaterials": null,
|
| 512 |
+
"receptacleObjectIds": [
|
| 513 |
+
"Faucet|5|1|1"
|
| 514 |
+
],
|
| 515 |
+
"distance": 2.5654819011688232,
|
| 516 |
+
"objectType": "Sink",
|
| 517 |
+
"objectId": "Sink|5|1|0",
|
| 518 |
+
"assetId": "Sink_26",
|
| 519 |
+
"parentReceptacles": [
|
| 520 |
+
"Floor"
|
| 521 |
+
],
|
| 522 |
+
"controlledObjects": null,
|
| 523 |
+
"isMoving": false,
|
| 524 |
+
"axisAlignedBoundingBox": {
|
| 525 |
+
"cornerPoints": [
|
| 526 |
+
[
|
| 527 |
+
3.825000047683716,
|
| 528 |
+
0.9855988025665283,
|
| 529 |
+
11.52400016784668
|
| 530 |
+
],
|
| 531 |
+
[
|
| 532 |
+
3.825000047683716,
|
| 533 |
+
0.9855988025665283,
|
| 534 |
+
10.689083099365234
|
| 535 |
+
],
|
| 536 |
+
[
|
| 537 |
+
3.825000047683716,
|
| 538 |
+
0.0,
|
| 539 |
+
11.52400016784668
|
| 540 |
+
],
|
| 541 |
+
[
|
| 542 |
+
3.825000047683716,
|
| 543 |
+
0.0,
|
| 544 |
+
10.689083099365234
|
| 545 |
+
],
|
| 546 |
+
[
|
| 547 |
+
3.18265700340271,
|
| 548 |
+
0.9855988025665283,
|
| 549 |
+
11.52400016784668
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
3.18265700340271,
|
| 553 |
+
0.9855988025665283,
|
| 554 |
+
10.689083099365234
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
3.18265700340271,
|
| 558 |
+
0.0,
|
| 559 |
+
11.52400016784668
|
| 560 |
+
],
|
| 561 |
+
[
|
| 562 |
+
3.18265700340271,
|
| 563 |
+
0.0,
|
| 564 |
+
10.689083099365234
|
| 565 |
+
]
|
| 566 |
+
],
|
| 567 |
+
"center": {
|
| 568 |
+
"x": 3.503828525543213,
|
| 569 |
+
"y": 0.49279940128326416,
|
| 570 |
+
"z": 11.106541633605957
|
| 571 |
+
},
|
| 572 |
+
"size": {
|
| 573 |
+
"x": 0.6423430442810059,
|
| 574 |
+
"y": 0.9855988025665283,
|
| 575 |
+
"z": 0.8349170684814453
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
"objectOrientedBoundingBox": null
|
| 579 |
+
}
|
| 580 |
+
},
|
| 581 |
+
{
|
| 582 |
+
"objectId": "Toilet|5|0",
|
| 583 |
+
"object_info": {
|
| 584 |
+
"name": "Toilet|5|0",
|
| 585 |
+
"position": {
|
| 586 |
+
"x": 0.28989943861961365,
|
| 587 |
+
"y": 0.0017688274383544922,
|
| 588 |
+
"z": 11.05154037475586
|
| 589 |
+
},
|
| 590 |
+
"rotation": {
|
| 591 |
+
"x": 0.0,
|
| 592 |
+
"y": 180.0,
|
| 593 |
+
"z": 0.0
|
| 594 |
+
},
|
| 595 |
+
"visible": false,
|
| 596 |
+
"isInteractable": false,
|
| 597 |
+
"receptacle": true,
|
| 598 |
+
"toggleable": false,
|
| 599 |
+
"isToggled": false,
|
| 600 |
+
"breakable": false,
|
| 601 |
+
"isBroken": false,
|
| 602 |
+
"canFillWithLiquid": false,
|
| 603 |
+
"isFilledWithLiquid": false,
|
| 604 |
+
"fillLiquid": null,
|
| 605 |
+
"dirtyable": false,
|
| 606 |
+
"isDirty": false,
|
| 607 |
+
"canBeUsedUp": false,
|
| 608 |
+
"isUsedUp": false,
|
| 609 |
+
"cookable": false,
|
| 610 |
+
"isCooked": false,
|
| 611 |
+
"temperature": "RoomTemp",
|
| 612 |
+
"isHeatSource": false,
|
| 613 |
+
"isColdSource": false,
|
| 614 |
+
"sliceable": false,
|
| 615 |
+
"isSliced": false,
|
| 616 |
+
"openable": true,
|
| 617 |
+
"isOpen": false,
|
| 618 |
+
"openness": 0.0,
|
| 619 |
+
"pickupable": false,
|
| 620 |
+
"isPickedUp": false,
|
| 621 |
+
"moveable": false,
|
| 622 |
+
"mass": 0.0,
|
| 623 |
+
"salientMaterials": null,
|
| 624 |
+
"receptacleObjectIds": [
|
| 625 |
+
"ToiletPaper|surface|5|48",
|
| 626 |
+
"SoapBar|surface|5|47"
|
| 627 |
+
],
|
| 628 |
+
"distance": 2.312528371810913,
|
| 629 |
+
"objectType": "Toilet",
|
| 630 |
+
"objectId": "Toilet|5|0",
|
| 631 |
+
"assetId": "Toilet_1",
|
| 632 |
+
"parentReceptacles": [
|
| 633 |
+
"Floor"
|
| 634 |
+
],
|
| 635 |
+
"controlledObjects": null,
|
| 636 |
+
"isMoving": false,
|
| 637 |
+
"axisAlignedBoundingBox": {
|
| 638 |
+
"cornerPoints": [
|
| 639 |
+
[
|
| 640 |
+
0.5544841289520264,
|
| 641 |
+
1.0379130840301514,
|
| 642 |
+
11.523999214172363
|
| 643 |
+
],
|
| 644 |
+
[
|
| 645 |
+
0.5544841289520264,
|
| 646 |
+
1.0379130840301514,
|
| 647 |
+
10.551131248474121
|
| 648 |
+
],
|
| 649 |
+
[
|
| 650 |
+
0.5544841289520264,
|
| 651 |
+
0.0,
|
| 652 |
+
11.523999214172363
|
| 653 |
+
],
|
| 654 |
+
[
|
| 655 |
+
0.5544841289520264,
|
| 656 |
+
0.0,
|
| 657 |
+
10.551131248474121
|
| 658 |
+
],
|
| 659 |
+
[
|
| 660 |
+
0.02499985694885254,
|
| 661 |
+
1.0379130840301514,
|
| 662 |
+
11.523999214172363
|
| 663 |
+
],
|
| 664 |
+
[
|
| 665 |
+
0.02499985694885254,
|
| 666 |
+
1.0379130840301514,
|
| 667 |
+
10.551131248474121
|
| 668 |
+
],
|
| 669 |
+
[
|
| 670 |
+
0.02499985694885254,
|
| 671 |
+
0.0,
|
| 672 |
+
11.523999214172363
|
| 673 |
+
],
|
| 674 |
+
[
|
| 675 |
+
0.02499985694885254,
|
| 676 |
+
0.0,
|
| 677 |
+
10.551131248474121
|
| 678 |
+
]
|
| 679 |
+
],
|
| 680 |
+
"center": {
|
| 681 |
+
"x": 0.28974199295043945,
|
| 682 |
+
"y": 0.5189565420150757,
|
| 683 |
+
"z": 11.037565231323242
|
| 684 |
+
},
|
| 685 |
+
"size": {
|
| 686 |
+
"x": 0.5294842720031738,
|
| 687 |
+
"y": 1.0379130840301514,
|
| 688 |
+
"z": 0.9728679656982422
|
| 689 |
+
}
|
| 690 |
+
},
|
| 691 |
+
"objectOrientedBoundingBox": null
|
| 692 |
+
}
|
| 693 |
+
},
|
| 694 |
+
{
|
| 695 |
+
"objectId": "Sink|5|1|0___0",
|
| 696 |
+
"object_info": {
|
| 697 |
+
"name": "SinkBasin",
|
| 698 |
+
"position": {
|
| 699 |
+
"x": 3.457854986190796,
|
| 700 |
+
"y": 0.9014000296592712,
|
| 701 |
+
"z": 11.095341682434082
|
| 702 |
+
},
|
| 703 |
+
"rotation": {
|
| 704 |
+
"x": 1.4033420794510015e-14,
|
| 705 |
+
"y": 270.0,
|
| 706 |
+
"z": 0.0
|
| 707 |
+
},
|
| 708 |
+
"visible": false,
|
| 709 |
+
"isInteractable": false,
|
| 710 |
+
"receptacle": true,
|
| 711 |
+
"toggleable": false,
|
| 712 |
+
"isToggled": false,
|
| 713 |
+
"breakable": false,
|
| 714 |
+
"isBroken": false,
|
| 715 |
+
"canFillWithLiquid": false,
|
| 716 |
+
"isFilledWithLiquid": false,
|
| 717 |
+
"fillLiquid": null,
|
| 718 |
+
"dirtyable": false,
|
| 719 |
+
"isDirty": false,
|
| 720 |
+
"canBeUsedUp": false,
|
| 721 |
+
"isUsedUp": false,
|
| 722 |
+
"cookable": false,
|
| 723 |
+
"isCooked": false,
|
| 724 |
+
"temperature": "RoomTemp",
|
| 725 |
+
"isHeatSource": false,
|
| 726 |
+
"isColdSource": false,
|
| 727 |
+
"sliceable": false,
|
| 728 |
+
"isSliced": false,
|
| 729 |
+
"openable": false,
|
| 730 |
+
"isOpen": false,
|
| 731 |
+
"openness": 0.0,
|
| 732 |
+
"pickupable": false,
|
| 733 |
+
"isPickedUp": false,
|
| 734 |
+
"moveable": false,
|
| 735 |
+
"mass": 0.0,
|
| 736 |
+
"salientMaterials": null,
|
| 737 |
+
"receptacleObjectIds": [],
|
| 738 |
+
"distance": 2.3370673656463623,
|
| 739 |
+
"objectType": "SinkBasin",
|
| 740 |
+
"objectId": "Sink|5|1|0___0",
|
| 741 |
+
"assetId": "",
|
| 742 |
+
"parentReceptacles": null,
|
| 743 |
+
"controlledObjects": null,
|
| 744 |
+
"isMoving": false,
|
| 745 |
+
"axisAlignedBoundingBox": {
|
| 746 |
+
"cornerPoints": [
|
| 747 |
+
[
|
| 748 |
+
3.604801654815674,
|
| 749 |
+
1.0298691987991333,
|
| 750 |
+
11.469036102294922
|
| 751 |
+
],
|
| 752 |
+
[
|
| 753 |
+
3.604801654815674,
|
| 754 |
+
1.0298691987991333,
|
| 755 |
+
10.744049072265625
|
| 756 |
+
],
|
| 757 |
+
[
|
| 758 |
+
3.604801654815674,
|
| 759 |
+
0.8825722932815552,
|
| 760 |
+
11.469036102294922
|
| 761 |
+
],
|
| 762 |
+
[
|
| 763 |
+
3.604801654815674,
|
| 764 |
+
0.8825722932815552,
|
| 765 |
+
10.744049072265625
|
| 766 |
+
],
|
| 767 |
+
[
|
| 768 |
+
3.2320265769958496,
|
| 769 |
+
1.0298691987991333,
|
| 770 |
+
11.469036102294922
|
| 771 |
+
],
|
| 772 |
+
[
|
| 773 |
+
3.2320265769958496,
|
| 774 |
+
1.0298691987991333,
|
| 775 |
+
10.744049072265625
|
| 776 |
+
],
|
| 777 |
+
[
|
| 778 |
+
3.2320265769958496,
|
| 779 |
+
0.8825722932815552,
|
| 780 |
+
11.469036102294922
|
| 781 |
+
],
|
| 782 |
+
[
|
| 783 |
+
3.2320265769958496,
|
| 784 |
+
0.8825722932815552,
|
| 785 |
+
10.744049072265625
|
| 786 |
+
]
|
| 787 |
+
],
|
| 788 |
+
"center": {
|
| 789 |
+
"x": 3.4184141159057617,
|
| 790 |
+
"y": 0.9562207460403442,
|
| 791 |
+
"z": 11.106542587280273
|
| 792 |
+
},
|
| 793 |
+
"size": {
|
| 794 |
+
"x": 0.3727750778198242,
|
| 795 |
+
"y": 0.14729690551757812,
|
| 796 |
+
"z": 0.7249870300292969
|
| 797 |
+
}
|
| 798 |
+
},
|
| 799 |
+
"objectOrientedBoundingBox": null
|
| 800 |
+
}
|
| 801 |
+
}
|
| 802 |
+
],
|
| 803 |
+
"Agent": {
|
| 804 |
+
"agent_position": {
|
| 805 |
+
"x": 1.5,
|
| 806 |
+
"y": 0.9009997844696045,
|
| 807 |
+
"z": 9.800000190734863
|
| 808 |
+
},
|
| 809 |
+
"agent_rotation": {
|
| 810 |
+
"x": -0.0,
|
| 811 |
+
"y": 0.0,
|
| 812 |
+
"z": 0.0
|
| 813 |
+
},
|
| 814 |
+
"agent_cameraHorizon": 30.000003814697266,
|
| 815 |
+
"agent_isStanding": true,
|
| 816 |
+
"agent_inHighFrictionArea": false
|
| 817 |
+
},
|
| 818 |
+
"camera_info": {
|
| 819 |
+
"cameraPosition": {
|
| 820 |
+
"x": 1.5,
|
| 821 |
+
"y": 1.5759997367858887,
|
| 822 |
+
"z": 9.800000190734863
|
| 823 |
+
},
|
| 824 |
+
"cameraOrthSize": -1.0,
|
| 825 |
+
"fov": 90.0
|
| 826 |
+
},
|
| 827 |
+
"common_object": [
|
| 828 |
+
"Sink|5|1|0",
|
| 829 |
+
"Sink|5|1|0___0"
|
| 830 |
+
],
|
| 831 |
+
"different_object": [
|
| 832 |
+
"SoapBar|surface|5|47",
|
| 833 |
+
"Plunger|5|3",
|
| 834 |
+
"ToiletPaper|surface|5|48",
|
| 835 |
+
"Toilet|5|0"
|
| 836 |
+
]
|
| 837 |
+
}
|
train/train1259/2/0_depth_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:de16bdec532e5d932a2eea6c2e9c129b5faa77f70f290aed76fe26bbe3b773b8
|
| 3 |
+
size 3145856
|
train/train1259/2/0_semantic_sensor_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7475cedd4379136f3dff3308ee4ce01d414f67e80d985f0a37a03f44dd60f112
|
| 3 |
+
size 2359424
|
train/train1259/2/1.json
ADDED
|
@@ -0,0 +1,521 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object": [
|
| 3 |
+
{
|
| 4 |
+
"objectId": "Faucet|5|1|1",
|
| 5 |
+
"object_info": {
|
| 6 |
+
"name": "Faucet|5|1|1",
|
| 7 |
+
"position": {
|
| 8 |
+
"x": 3.7983078956604004,
|
| 9 |
+
"y": 0.985598623752594,
|
| 10 |
+
"z": 11.123241424560547
|
| 11 |
+
},
|
| 12 |
+
"rotation": {
|
| 13 |
+
"x": 0.0,
|
| 14 |
+
"y": 270.0,
|
| 15 |
+
"z": 0.0
|
| 16 |
+
},
|
| 17 |
+
"visible": false,
|
| 18 |
+
"isInteractable": false,
|
| 19 |
+
"receptacle": false,
|
| 20 |
+
"toggleable": true,
|
| 21 |
+
"isToggled": false,
|
| 22 |
+
"breakable": false,
|
| 23 |
+
"isBroken": false,
|
| 24 |
+
"canFillWithLiquid": false,
|
| 25 |
+
"isFilledWithLiquid": false,
|
| 26 |
+
"fillLiquid": null,
|
| 27 |
+
"dirtyable": false,
|
| 28 |
+
"isDirty": false,
|
| 29 |
+
"canBeUsedUp": false,
|
| 30 |
+
"isUsedUp": false,
|
| 31 |
+
"cookable": false,
|
| 32 |
+
"isCooked": false,
|
| 33 |
+
"temperature": "RoomTemp",
|
| 34 |
+
"isHeatSource": false,
|
| 35 |
+
"isColdSource": false,
|
| 36 |
+
"sliceable": false,
|
| 37 |
+
"isSliced": false,
|
| 38 |
+
"openable": false,
|
| 39 |
+
"isOpen": false,
|
| 40 |
+
"openness": 0.0,
|
| 41 |
+
"pickupable": false,
|
| 42 |
+
"isPickedUp": false,
|
| 43 |
+
"moveable": false,
|
| 44 |
+
"mass": 0.0,
|
| 45 |
+
"salientMaterials": null,
|
| 46 |
+
"receptacleObjectIds": null,
|
| 47 |
+
"distance": 2.614887237548828,
|
| 48 |
+
"objectType": "Faucet",
|
| 49 |
+
"objectId": "Faucet|5|1|1",
|
| 50 |
+
"assetId": "Bathroom_Faucet_19",
|
| 51 |
+
"parentReceptacles": [
|
| 52 |
+
"Sink|5|1|0"
|
| 53 |
+
],
|
| 54 |
+
"controlledObjects": [],
|
| 55 |
+
"isMoving": false,
|
| 56 |
+
"axisAlignedBoundingBox": {
|
| 57 |
+
"cornerPoints": [
|
| 58 |
+
[
|
| 59 |
+
3.819999933242798,
|
| 60 |
+
1.190291404724121,
|
| 61 |
+
11.1426362991333
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
3.819999933242798,
|
| 65 |
+
1.190291404724121,
|
| 66 |
+
11.070446968078613
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
3.819999933242798,
|
| 70 |
+
0.9855985641479492,
|
| 71 |
+
11.1426362991333
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
3.819999933242798,
|
| 75 |
+
0.9855985641479492,
|
| 76 |
+
11.070446968078613
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
3.604583978652954,
|
| 80 |
+
1.190291404724121,
|
| 81 |
+
11.1426362991333
|
| 82 |
+
],
|
| 83 |
+
[
|
| 84 |
+
3.604583978652954,
|
| 85 |
+
1.190291404724121,
|
| 86 |
+
11.070446968078613
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
3.604583978652954,
|
| 90 |
+
0.9855985641479492,
|
| 91 |
+
11.1426362991333
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
3.604583978652954,
|
| 95 |
+
0.9855985641479492,
|
| 96 |
+
11.070446968078613
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"center": {
|
| 100 |
+
"x": 3.712291955947876,
|
| 101 |
+
"y": 1.0879449844360352,
|
| 102 |
+
"z": 11.106541633605957
|
| 103 |
+
},
|
| 104 |
+
"size": {
|
| 105 |
+
"x": 0.21541595458984375,
|
| 106 |
+
"y": 0.20469284057617188,
|
| 107 |
+
"z": 0.0721893310546875
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"objectOrientedBoundingBox": null
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"objectId": "GarbageCan|5|2",
|
| 115 |
+
"object_info": {
|
| 116 |
+
"name": "GarbageCan|5|2",
|
| 117 |
+
"position": {
|
| 118 |
+
"x": 3.636021614074707,
|
| 119 |
+
"y": -0.032638683915138245,
|
| 120 |
+
"z": 9.863131523132324
|
| 121 |
+
},
|
| 122 |
+
"rotation": {
|
| 123 |
+
"x": -3.652619489002973e-05,
|
| 124 |
+
"y": 270.0002746582031,
|
| 125 |
+
"z": 1.1019371413567569e-05
|
| 126 |
+
},
|
| 127 |
+
"visible": false,
|
| 128 |
+
"isInteractable": false,
|
| 129 |
+
"receptacle": true,
|
| 130 |
+
"toggleable": false,
|
| 131 |
+
"isToggled": false,
|
| 132 |
+
"breakable": false,
|
| 133 |
+
"isBroken": false,
|
| 134 |
+
"canFillWithLiquid": false,
|
| 135 |
+
"isFilledWithLiquid": false,
|
| 136 |
+
"fillLiquid": null,
|
| 137 |
+
"dirtyable": false,
|
| 138 |
+
"isDirty": false,
|
| 139 |
+
"canBeUsedUp": false,
|
| 140 |
+
"isUsedUp": false,
|
| 141 |
+
"cookable": false,
|
| 142 |
+
"isCooked": false,
|
| 143 |
+
"temperature": "RoomTemp",
|
| 144 |
+
"isHeatSource": false,
|
| 145 |
+
"isColdSource": false,
|
| 146 |
+
"sliceable": false,
|
| 147 |
+
"isSliced": false,
|
| 148 |
+
"openable": false,
|
| 149 |
+
"isOpen": false,
|
| 150 |
+
"openness": 0.0,
|
| 151 |
+
"pickupable": false,
|
| 152 |
+
"isPickedUp": false,
|
| 153 |
+
"moveable": true,
|
| 154 |
+
"mass": 0.699999988079071,
|
| 155 |
+
"salientMaterials": [
|
| 156 |
+
"Plastic"
|
| 157 |
+
],
|
| 158 |
+
"receptacleObjectIds": [],
|
| 159 |
+
"distance": 2.135561466217041,
|
| 160 |
+
"objectType": "GarbageCan",
|
| 161 |
+
"objectId": "GarbageCan|5|2",
|
| 162 |
+
"assetId": "bin_17",
|
| 163 |
+
"parentReceptacles": [
|
| 164 |
+
"Floor"
|
| 165 |
+
],
|
| 166 |
+
"controlledObjects": null,
|
| 167 |
+
"isMoving": false,
|
| 168 |
+
"axisAlignedBoundingBox": {
|
| 169 |
+
"cornerPoints": [
|
| 170 |
+
[
|
| 171 |
+
3.82499361038208,
|
| 172 |
+
0.5611541271209717,
|
| 173 |
+
10.145074844360352
|
| 174 |
+
],
|
| 175 |
+
[
|
| 176 |
+
3.82499361038208,
|
| 177 |
+
0.5611541271209717,
|
| 178 |
+
9.577098846435547
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
3.82499361038208,
|
| 182 |
+
3.2782554626464844e-07,
|
| 183 |
+
10.145074844360352
|
| 184 |
+
],
|
| 185 |
+
[
|
| 186 |
+
3.82499361038208,
|
| 187 |
+
3.2782554626464844e-07,
|
| 188 |
+
9.577098846435547
|
| 189 |
+
],
|
| 190 |
+
[
|
| 191 |
+
3.4075722694396973,
|
| 192 |
+
0.5611541271209717,
|
| 193 |
+
10.145074844360352
|
| 194 |
+
],
|
| 195 |
+
[
|
| 196 |
+
3.4075722694396973,
|
| 197 |
+
0.5611541271209717,
|
| 198 |
+
9.577098846435547
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
3.4075722694396973,
|
| 202 |
+
3.2782554626464844e-07,
|
| 203 |
+
10.145074844360352
|
| 204 |
+
],
|
| 205 |
+
[
|
| 206 |
+
3.4075722694396973,
|
| 207 |
+
3.2782554626464844e-07,
|
| 208 |
+
9.577098846435547
|
| 209 |
+
]
|
| 210 |
+
],
|
| 211 |
+
"center": {
|
| 212 |
+
"x": 3.6162829399108887,
|
| 213 |
+
"y": 0.2805772125720978,
|
| 214 |
+
"z": 9.86108684539795
|
| 215 |
+
},
|
| 216 |
+
"size": {
|
| 217 |
+
"x": 0.4174213409423828,
|
| 218 |
+
"y": 0.561153769493103,
|
| 219 |
+
"z": 0.5679759979248047
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"objectOrientedBoundingBox": {
|
| 223 |
+
"cornerPoints": [
|
| 224 |
+
[
|
| 225 |
+
3.40757155418396,
|
| 226 |
+
-1.8998980522155762e-06,
|
| 227 |
+
10.145078659057617
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
3.40756893157959,
|
| 231 |
+
-2.0116567611694336e-06,
|
| 232 |
+
9.57709789276123
|
| 233 |
+
],
|
| 234 |
+
[
|
| 235 |
+
3.8249926567077637,
|
| 236 |
+
-2.2761523723602295e-06,
|
| 237 |
+
9.577095985412598
|
| 238 |
+
],
|
| 239 |
+
[
|
| 240 |
+
3.824995279312134,
|
| 241 |
+
-2.164393663406372e-06,
|
| 242 |
+
10.145075798034668
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
3.407571792602539,
|
| 246 |
+
0.5611568093299866,
|
| 247 |
+
10.1450777053833
|
| 248 |
+
],
|
| 249 |
+
[
|
| 250 |
+
3.407569169998169,
|
| 251 |
+
0.561156690120697,
|
| 252 |
+
9.57709789276123
|
| 253 |
+
],
|
| 254 |
+
[
|
| 255 |
+
3.824993133544922,
|
| 256 |
+
0.5611564517021179,
|
| 257 |
+
9.577095985412598
|
| 258 |
+
],
|
| 259 |
+
[
|
| 260 |
+
3.824995756149292,
|
| 261 |
+
0.5611565709114075,
|
| 262 |
+
10.145075798034668
|
| 263 |
+
]
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"objectId": "Sink|5|1|0",
|
| 270 |
+
"object_info": {
|
| 271 |
+
"name": "Sink|5|1|0",
|
| 272 |
+
"position": {
|
| 273 |
+
"x": 3.535754919052124,
|
| 274 |
+
"y": 0.0,
|
| 275 |
+
"z": 11.106541633605957
|
| 276 |
+
},
|
| 277 |
+
"rotation": {
|
| 278 |
+
"x": 0.0,
|
| 279 |
+
"y": 270.0,
|
| 280 |
+
"z": 0.0
|
| 281 |
+
},
|
| 282 |
+
"visible": false,
|
| 283 |
+
"isInteractable": false,
|
| 284 |
+
"receptacle": true,
|
| 285 |
+
"toggleable": false,
|
| 286 |
+
"isToggled": false,
|
| 287 |
+
"breakable": false,
|
| 288 |
+
"isBroken": false,
|
| 289 |
+
"canFillWithLiquid": false,
|
| 290 |
+
"isFilledWithLiquid": false,
|
| 291 |
+
"fillLiquid": null,
|
| 292 |
+
"dirtyable": false,
|
| 293 |
+
"isDirty": false,
|
| 294 |
+
"canBeUsedUp": false,
|
| 295 |
+
"isUsedUp": false,
|
| 296 |
+
"cookable": false,
|
| 297 |
+
"isCooked": false,
|
| 298 |
+
"temperature": "RoomTemp",
|
| 299 |
+
"isHeatSource": false,
|
| 300 |
+
"isColdSource": false,
|
| 301 |
+
"sliceable": false,
|
| 302 |
+
"isSliced": false,
|
| 303 |
+
"openable": false,
|
| 304 |
+
"isOpen": false,
|
| 305 |
+
"openness": 0.0,
|
| 306 |
+
"pickupable": false,
|
| 307 |
+
"isPickedUp": false,
|
| 308 |
+
"moveable": false,
|
| 309 |
+
"mass": 0.0,
|
| 310 |
+
"salientMaterials": null,
|
| 311 |
+
"receptacleObjectIds": [
|
| 312 |
+
"Faucet|5|1|1"
|
| 313 |
+
],
|
| 314 |
+
"distance": 2.5654819011688232,
|
| 315 |
+
"objectType": "Sink",
|
| 316 |
+
"objectId": "Sink|5|1|0",
|
| 317 |
+
"assetId": "Sink_26",
|
| 318 |
+
"parentReceptacles": [
|
| 319 |
+
"Floor"
|
| 320 |
+
],
|
| 321 |
+
"controlledObjects": null,
|
| 322 |
+
"isMoving": false,
|
| 323 |
+
"axisAlignedBoundingBox": {
|
| 324 |
+
"cornerPoints": [
|
| 325 |
+
[
|
| 326 |
+
3.825000047683716,
|
| 327 |
+
0.9855988025665283,
|
| 328 |
+
11.52400016784668
|
| 329 |
+
],
|
| 330 |
+
[
|
| 331 |
+
3.825000047683716,
|
| 332 |
+
0.9855988025665283,
|
| 333 |
+
10.689083099365234
|
| 334 |
+
],
|
| 335 |
+
[
|
| 336 |
+
3.825000047683716,
|
| 337 |
+
0.0,
|
| 338 |
+
11.52400016784668
|
| 339 |
+
],
|
| 340 |
+
[
|
| 341 |
+
3.825000047683716,
|
| 342 |
+
0.0,
|
| 343 |
+
10.689083099365234
|
| 344 |
+
],
|
| 345 |
+
[
|
| 346 |
+
3.18265700340271,
|
| 347 |
+
0.9855988025665283,
|
| 348 |
+
11.52400016784668
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
3.18265700340271,
|
| 352 |
+
0.9855988025665283,
|
| 353 |
+
10.689083099365234
|
| 354 |
+
],
|
| 355 |
+
[
|
| 356 |
+
3.18265700340271,
|
| 357 |
+
0.0,
|
| 358 |
+
11.52400016784668
|
| 359 |
+
],
|
| 360 |
+
[
|
| 361 |
+
3.18265700340271,
|
| 362 |
+
0.0,
|
| 363 |
+
10.689083099365234
|
| 364 |
+
]
|
| 365 |
+
],
|
| 366 |
+
"center": {
|
| 367 |
+
"x": 3.503828525543213,
|
| 368 |
+
"y": 0.49279940128326416,
|
| 369 |
+
"z": 11.106541633605957
|
| 370 |
+
},
|
| 371 |
+
"size": {
|
| 372 |
+
"x": 0.6423430442810059,
|
| 373 |
+
"y": 0.9855988025665283,
|
| 374 |
+
"z": 0.8349170684814453
|
| 375 |
+
}
|
| 376 |
+
},
|
| 377 |
+
"objectOrientedBoundingBox": null
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"objectId": "Sink|5|1|0___0",
|
| 382 |
+
"object_info": {
|
| 383 |
+
"name": "SinkBasin",
|
| 384 |
+
"position": {
|
| 385 |
+
"x": 3.457854986190796,
|
| 386 |
+
"y": 0.9014000296592712,
|
| 387 |
+
"z": 11.095341682434082
|
| 388 |
+
},
|
| 389 |
+
"rotation": {
|
| 390 |
+
"x": 1.4033420794510015e-14,
|
| 391 |
+
"y": 270.0,
|
| 392 |
+
"z": 0.0
|
| 393 |
+
},
|
| 394 |
+
"visible": false,
|
| 395 |
+
"isInteractable": false,
|
| 396 |
+
"receptacle": true,
|
| 397 |
+
"toggleable": false,
|
| 398 |
+
"isToggled": false,
|
| 399 |
+
"breakable": false,
|
| 400 |
+
"isBroken": false,
|
| 401 |
+
"canFillWithLiquid": false,
|
| 402 |
+
"isFilledWithLiquid": false,
|
| 403 |
+
"fillLiquid": null,
|
| 404 |
+
"dirtyable": false,
|
| 405 |
+
"isDirty": false,
|
| 406 |
+
"canBeUsedUp": false,
|
| 407 |
+
"isUsedUp": false,
|
| 408 |
+
"cookable": false,
|
| 409 |
+
"isCooked": false,
|
| 410 |
+
"temperature": "RoomTemp",
|
| 411 |
+
"isHeatSource": false,
|
| 412 |
+
"isColdSource": false,
|
| 413 |
+
"sliceable": false,
|
| 414 |
+
"isSliced": false,
|
| 415 |
+
"openable": false,
|
| 416 |
+
"isOpen": false,
|
| 417 |
+
"openness": 0.0,
|
| 418 |
+
"pickupable": false,
|
| 419 |
+
"isPickedUp": false,
|
| 420 |
+
"moveable": false,
|
| 421 |
+
"mass": 0.0,
|
| 422 |
+
"salientMaterials": null,
|
| 423 |
+
"receptacleObjectIds": [],
|
| 424 |
+
"distance": 2.3370673656463623,
|
| 425 |
+
"objectType": "SinkBasin",
|
| 426 |
+
"objectId": "Sink|5|1|0___0",
|
| 427 |
+
"assetId": "",
|
| 428 |
+
"parentReceptacles": null,
|
| 429 |
+
"controlledObjects": null,
|
| 430 |
+
"isMoving": false,
|
| 431 |
+
"axisAlignedBoundingBox": {
|
| 432 |
+
"cornerPoints": [
|
| 433 |
+
[
|
| 434 |
+
3.604801654815674,
|
| 435 |
+
1.0298691987991333,
|
| 436 |
+
11.469036102294922
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
3.604801654815674,
|
| 440 |
+
1.0298691987991333,
|
| 441 |
+
10.744049072265625
|
| 442 |
+
],
|
| 443 |
+
[
|
| 444 |
+
3.604801654815674,
|
| 445 |
+
0.8825722932815552,
|
| 446 |
+
11.469036102294922
|
| 447 |
+
],
|
| 448 |
+
[
|
| 449 |
+
3.604801654815674,
|
| 450 |
+
0.8825722932815552,
|
| 451 |
+
10.744049072265625
|
| 452 |
+
],
|
| 453 |
+
[
|
| 454 |
+
3.2320265769958496,
|
| 455 |
+
1.0298691987991333,
|
| 456 |
+
11.469036102294922
|
| 457 |
+
],
|
| 458 |
+
[
|
| 459 |
+
3.2320265769958496,
|
| 460 |
+
1.0298691987991333,
|
| 461 |
+
10.744049072265625
|
| 462 |
+
],
|
| 463 |
+
[
|
| 464 |
+
3.2320265769958496,
|
| 465 |
+
0.8825722932815552,
|
| 466 |
+
11.469036102294922
|
| 467 |
+
],
|
| 468 |
+
[
|
| 469 |
+
3.2320265769958496,
|
| 470 |
+
0.8825722932815552,
|
| 471 |
+
10.744049072265625
|
| 472 |
+
]
|
| 473 |
+
],
|
| 474 |
+
"center": {
|
| 475 |
+
"x": 3.4184141159057617,
|
| 476 |
+
"y": 0.9562207460403442,
|
| 477 |
+
"z": 11.106542587280273
|
| 478 |
+
},
|
| 479 |
+
"size": {
|
| 480 |
+
"x": 0.3727750778198242,
|
| 481 |
+
"y": 0.14729690551757812,
|
| 482 |
+
"z": 0.7249870300292969
|
| 483 |
+
}
|
| 484 |
+
},
|
| 485 |
+
"objectOrientedBoundingBox": null
|
| 486 |
+
}
|
| 487 |
+
}
|
| 488 |
+
],
|
| 489 |
+
"Agent": {
|
| 490 |
+
"agent_position": {
|
| 491 |
+
"x": 1.399999976158142,
|
| 492 |
+
"y": 0.9009997844696045,
|
| 493 |
+
"z": 9.800000190734863
|
| 494 |
+
},
|
| 495 |
+
"agent_rotation": {
|
| 496 |
+
"x": -0.0,
|
| 497 |
+
"y": 90.0,
|
| 498 |
+
"z": -0.0
|
| 499 |
+
},
|
| 500 |
+
"agent_cameraHorizon": 1.530945155536756e-06,
|
| 501 |
+
"agent_isStanding": true,
|
| 502 |
+
"agent_inHighFrictionArea": false
|
| 503 |
+
},
|
| 504 |
+
"camera_info": {
|
| 505 |
+
"cameraPosition": {
|
| 506 |
+
"x": 1.399999976158142,
|
| 507 |
+
"y": 1.5759997367858887,
|
| 508 |
+
"z": 9.800000190734863
|
| 509 |
+
},
|
| 510 |
+
"cameraOrthSize": -1.0,
|
| 511 |
+
"fov": 90.0
|
| 512 |
+
},
|
| 513 |
+
"common_object": [
|
| 514 |
+
"Sink|5|1|0",
|
| 515 |
+
"Sink|5|1|0___0"
|
| 516 |
+
],
|
| 517 |
+
"different_object": [
|
| 518 |
+
"Faucet|5|1|1",
|
| 519 |
+
"GarbageCan|5|2"
|
| 520 |
+
]
|
| 521 |
+
}
|
train/train1259/2/1_depth_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:da4601f9183467ef01e783229a16502d4351873e7aba88568e6ecbb9f14f513f
|
| 3 |
+
size 3145856
|
train/train1259/2/1_semantic_sensor_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:06dc514a827fc599d50357a431cf2f43429b1cdaa37f7298ca828b40e6d607a5
|
| 3 |
+
size 2359424
|
train/train1259/2/depth_0.png
ADDED
|
train/train1259/2/depth_1.png
ADDED
|
train/train1259/2/mask_questions.jsonl
ADDED
|
File without changes
|
train/train1259/2/rgb_0.png
ADDED
|
Git LFS Details
|
train/train1259/2/rgb_1.png
ADDED
|
Git LFS Details
|
train/train1259/2/semantic_0.png
ADDED
|
train/train1259/2/semantic_1.png
ADDED
|
train/train1259/3/0.json
ADDED
|
@@ -0,0 +1,678 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object": [
|
| 3 |
+
{
|
| 4 |
+
"objectId": "door|4|5",
|
| 5 |
+
"object_info": {
|
| 6 |
+
"name": "door|4|5",
|
| 7 |
+
"position": {
|
| 8 |
+
"x": 2.193453788757324,
|
| 9 |
+
"y": -0.0005974769592285156,
|
| 10 |
+
"z": 7.698999881744385
|
| 11 |
+
},
|
| 12 |
+
"rotation": {
|
| 13 |
+
"x": -0.0,
|
| 14 |
+
"y": 0.0,
|
| 15 |
+
"z": 0.0
|
| 16 |
+
},
|
| 17 |
+
"visible": false,
|
| 18 |
+
"isInteractable": false,
|
| 19 |
+
"receptacle": false,
|
| 20 |
+
"toggleable": false,
|
| 21 |
+
"isToggled": false,
|
| 22 |
+
"breakable": false,
|
| 23 |
+
"isBroken": false,
|
| 24 |
+
"canFillWithLiquid": false,
|
| 25 |
+
"isFilledWithLiquid": false,
|
| 26 |
+
"fillLiquid": null,
|
| 27 |
+
"dirtyable": false,
|
| 28 |
+
"isDirty": false,
|
| 29 |
+
"canBeUsedUp": false,
|
| 30 |
+
"isUsedUp": false,
|
| 31 |
+
"cookable": false,
|
| 32 |
+
"isCooked": false,
|
| 33 |
+
"temperature": "RoomTemp",
|
| 34 |
+
"isHeatSource": false,
|
| 35 |
+
"isColdSource": false,
|
| 36 |
+
"sliceable": false,
|
| 37 |
+
"isSliced": false,
|
| 38 |
+
"openable": true,
|
| 39 |
+
"isOpen": true,
|
| 40 |
+
"openness": 1.0,
|
| 41 |
+
"pickupable": false,
|
| 42 |
+
"isPickedUp": false,
|
| 43 |
+
"moveable": false,
|
| 44 |
+
"mass": 0.0,
|
| 45 |
+
"salientMaterials": null,
|
| 46 |
+
"receptacleObjectIds": null,
|
| 47 |
+
"distance": 2.062311887741089,
|
| 48 |
+
"objectType": "Doorway",
|
| 49 |
+
"objectId": "door|4|5",
|
| 50 |
+
"assetId": "Doorway_Double_9",
|
| 51 |
+
"parentReceptacles": [
|
| 52 |
+
"Floor"
|
| 53 |
+
],
|
| 54 |
+
"controlledObjects": null,
|
| 55 |
+
"isMoving": false,
|
| 56 |
+
"axisAlignedBoundingBox": {
|
| 57 |
+
"cornerPoints": [
|
| 58 |
+
[
|
| 59 |
+
2.269169330596924,
|
| 60 |
+
2.075340747833252,
|
| 61 |
+
7.768621444702148
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
2.269169330596924,
|
| 65 |
+
2.075340747833252,
|
| 66 |
+
6.784069061279297
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
2.269169330596924,
|
| 70 |
+
0.0,
|
| 71 |
+
7.768621444702148
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
2.269169330596924,
|
| 75 |
+
0.0,
|
| 76 |
+
6.784069061279297
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.21979665756225586,
|
| 80 |
+
2.075340747833252,
|
| 81 |
+
7.768621444702148
|
| 82 |
+
],
|
| 83 |
+
[
|
| 84 |
+
0.21979665756225586,
|
| 85 |
+
2.075340747833252,
|
| 86 |
+
6.784069061279297
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.21979665756225586,
|
| 90 |
+
0.0,
|
| 91 |
+
7.768621444702148
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
0.21979665756225586,
|
| 95 |
+
0.0,
|
| 96 |
+
6.784069061279297
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"center": {
|
| 100 |
+
"x": 1.2444829940795898,
|
| 101 |
+
"y": 1.037670373916626,
|
| 102 |
+
"z": 7.276345252990723
|
| 103 |
+
},
|
| 104 |
+
"size": {
|
| 105 |
+
"x": 2.049372673034668,
|
| 106 |
+
"y": 2.075340747833252,
|
| 107 |
+
"z": 0.9845523834228516
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"objectOrientedBoundingBox": null
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"objectId": "Plunger|5|3",
|
| 115 |
+
"object_info": {
|
| 116 |
+
"name": "Plunger|5|3",
|
| 117 |
+
"position": {
|
| 118 |
+
"x": 1.4791741371154785,
|
| 119 |
+
"y": -0.00046303868293762207,
|
| 120 |
+
"z": 11.449926376342773
|
| 121 |
+
},
|
| 122 |
+
"rotation": {
|
| 123 |
+
"x": 0.00023233394313137978,
|
| 124 |
+
"y": 179.99989318847656,
|
| 125 |
+
"z": 0.0008740525227040052
|
| 126 |
+
},
|
| 127 |
+
"visible": false,
|
| 128 |
+
"isInteractable": false,
|
| 129 |
+
"receptacle": false,
|
| 130 |
+
"toggleable": false,
|
| 131 |
+
"isToggled": false,
|
| 132 |
+
"breakable": false,
|
| 133 |
+
"isBroken": false,
|
| 134 |
+
"canFillWithLiquid": false,
|
| 135 |
+
"isFilledWithLiquid": false,
|
| 136 |
+
"fillLiquid": null,
|
| 137 |
+
"dirtyable": false,
|
| 138 |
+
"isDirty": false,
|
| 139 |
+
"canBeUsedUp": false,
|
| 140 |
+
"isUsedUp": false,
|
| 141 |
+
"cookable": false,
|
| 142 |
+
"isCooked": false,
|
| 143 |
+
"temperature": "RoomTemp",
|
| 144 |
+
"isHeatSource": false,
|
| 145 |
+
"isColdSource": false,
|
| 146 |
+
"sliceable": false,
|
| 147 |
+
"isSliced": false,
|
| 148 |
+
"openable": false,
|
| 149 |
+
"isOpen": false,
|
| 150 |
+
"openness": 0.0,
|
| 151 |
+
"pickupable": true,
|
| 152 |
+
"isPickedUp": false,
|
| 153 |
+
"moveable": false,
|
| 154 |
+
"mass": 1.0,
|
| 155 |
+
"salientMaterials": [
|
| 156 |
+
"Rubber",
|
| 157 |
+
"Wood"
|
| 158 |
+
],
|
| 159 |
+
"receptacleObjectIds": null,
|
| 160 |
+
"distance": 2.1652238368988037,
|
| 161 |
+
"objectType": "Plunger",
|
| 162 |
+
"objectId": "Plunger|5|3",
|
| 163 |
+
"assetId": "Plunger_2",
|
| 164 |
+
"parentReceptacles": [
|
| 165 |
+
"Floor"
|
| 166 |
+
],
|
| 167 |
+
"controlledObjects": null,
|
| 168 |
+
"isMoving": false,
|
| 169 |
+
"axisAlignedBoundingBox": {
|
| 170 |
+
"cornerPoints": [
|
| 171 |
+
[
|
| 172 |
+
1.5533244609832764,
|
| 173 |
+
0.5393394231796265,
|
| 174 |
+
11.52400016784668
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
1.5533244609832764,
|
| 178 |
+
0.5393394231796265,
|
| 179 |
+
11.375993728637695
|
| 180 |
+
],
|
| 181 |
+
[
|
| 182 |
+
1.5533244609832764,
|
| 183 |
+
-5.066394805908203e-07,
|
| 184 |
+
11.52400016784668
|
| 185 |
+
],
|
| 186 |
+
[
|
| 187 |
+
1.5533244609832764,
|
| 188 |
+
-5.066394805908203e-07,
|
| 189 |
+
11.375993728637695
|
| 190 |
+
],
|
| 191 |
+
[
|
| 192 |
+
1.4050254821777344,
|
| 193 |
+
0.5393394231796265,
|
| 194 |
+
11.52400016784668
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
1.4050254821777344,
|
| 198 |
+
0.5393394231796265,
|
| 199 |
+
11.375993728637695
|
| 200 |
+
],
|
| 201 |
+
[
|
| 202 |
+
1.4050254821777344,
|
| 203 |
+
-5.066394805908203e-07,
|
| 204 |
+
11.52400016784668
|
| 205 |
+
],
|
| 206 |
+
[
|
| 207 |
+
1.4050254821777344,
|
| 208 |
+
-5.066394805908203e-07,
|
| 209 |
+
11.375993728637695
|
| 210 |
+
]
|
| 211 |
+
],
|
| 212 |
+
"center": {
|
| 213 |
+
"x": 1.4791749715805054,
|
| 214 |
+
"y": 0.26966944336891174,
|
| 215 |
+
"z": 11.449996948242188
|
| 216 |
+
},
|
| 217 |
+
"size": {
|
| 218 |
+
"x": 0.148298978805542,
|
| 219 |
+
"y": 0.5393399000167847,
|
| 220 |
+
"z": 0.14800643920898438
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"objectOrientedBoundingBox": {
|
| 224 |
+
"cornerPoints": [
|
| 225 |
+
[
|
| 226 |
+
1.4050257205963135,
|
| 227 |
+
1.755222911015153e-06,
|
| 228 |
+
11.375992774963379
|
| 229 |
+
],
|
| 230 |
+
[
|
| 231 |
+
1.5533227920532227,
|
| 232 |
+
-5.070760380476713e-07,
|
| 233 |
+
11.375993728637695
|
| 234 |
+
],
|
| 235 |
+
[
|
| 236 |
+
1.5533225536346436,
|
| 237 |
+
9.310315363109112e-08,
|
| 238 |
+
11.52400016784668
|
| 239 |
+
],
|
| 240 |
+
[
|
| 241 |
+
1.4050254821777344,
|
| 242 |
+
2.3554021026939154e-06,
|
| 243 |
+
11.523999214172363
|
| 244 |
+
],
|
| 245 |
+
[
|
| 246 |
+
1.4050339460372925,
|
| 247 |
+
0.5393400192260742,
|
| 248 |
+
11.375990867614746
|
| 249 |
+
],
|
| 250 |
+
[
|
| 251 |
+
1.5533310174942017,
|
| 252 |
+
0.5393377542495728,
|
| 253 |
+
11.375990867614746
|
| 254 |
+
],
|
| 255 |
+
[
|
| 256 |
+
1.5533307790756226,
|
| 257 |
+
0.5393383502960205,
|
| 258 |
+
11.52399730682373
|
| 259 |
+
],
|
| 260 |
+
[
|
| 261 |
+
1.4050337076187134,
|
| 262 |
+
0.539340615272522,
|
| 263 |
+
11.52399730682373
|
| 264 |
+
]
|
| 265 |
+
]
|
| 266 |
+
}
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"objectId": "GarbageCan|5|2",
|
| 271 |
+
"object_info": {
|
| 272 |
+
"name": "GarbageCan|5|2",
|
| 273 |
+
"position": {
|
| 274 |
+
"x": 3.636021614074707,
|
| 275 |
+
"y": -0.032638683915138245,
|
| 276 |
+
"z": 9.863131523132324
|
| 277 |
+
},
|
| 278 |
+
"rotation": {
|
| 279 |
+
"x": -3.652619489002973e-05,
|
| 280 |
+
"y": 270.0002746582031,
|
| 281 |
+
"z": 1.1019371413567569e-05
|
| 282 |
+
},
|
| 283 |
+
"visible": false,
|
| 284 |
+
"isInteractable": false,
|
| 285 |
+
"receptacle": true,
|
| 286 |
+
"toggleable": false,
|
| 287 |
+
"isToggled": false,
|
| 288 |
+
"breakable": false,
|
| 289 |
+
"isBroken": false,
|
| 290 |
+
"canFillWithLiquid": false,
|
| 291 |
+
"isFilledWithLiquid": false,
|
| 292 |
+
"fillLiquid": null,
|
| 293 |
+
"dirtyable": false,
|
| 294 |
+
"isDirty": false,
|
| 295 |
+
"canBeUsedUp": false,
|
| 296 |
+
"isUsedUp": false,
|
| 297 |
+
"cookable": false,
|
| 298 |
+
"isCooked": false,
|
| 299 |
+
"temperature": "RoomTemp",
|
| 300 |
+
"isHeatSource": false,
|
| 301 |
+
"isColdSource": false,
|
| 302 |
+
"sliceable": false,
|
| 303 |
+
"isSliced": false,
|
| 304 |
+
"openable": false,
|
| 305 |
+
"isOpen": false,
|
| 306 |
+
"openness": 0.0,
|
| 307 |
+
"pickupable": false,
|
| 308 |
+
"isPickedUp": false,
|
| 309 |
+
"moveable": true,
|
| 310 |
+
"mass": 0.699999988079071,
|
| 311 |
+
"salientMaterials": [
|
| 312 |
+
"Plastic"
|
| 313 |
+
],
|
| 314 |
+
"receptacleObjectIds": [],
|
| 315 |
+
"distance": 2.135561466217041,
|
| 316 |
+
"objectType": "GarbageCan",
|
| 317 |
+
"objectId": "GarbageCan|5|2",
|
| 318 |
+
"assetId": "bin_17",
|
| 319 |
+
"parentReceptacles": [
|
| 320 |
+
"Floor"
|
| 321 |
+
],
|
| 322 |
+
"controlledObjects": null,
|
| 323 |
+
"isMoving": false,
|
| 324 |
+
"axisAlignedBoundingBox": {
|
| 325 |
+
"cornerPoints": [
|
| 326 |
+
[
|
| 327 |
+
3.82499361038208,
|
| 328 |
+
0.5611541271209717,
|
| 329 |
+
10.145074844360352
|
| 330 |
+
],
|
| 331 |
+
[
|
| 332 |
+
3.82499361038208,
|
| 333 |
+
0.5611541271209717,
|
| 334 |
+
9.577098846435547
|
| 335 |
+
],
|
| 336 |
+
[
|
| 337 |
+
3.82499361038208,
|
| 338 |
+
3.2782554626464844e-07,
|
| 339 |
+
10.145074844360352
|
| 340 |
+
],
|
| 341 |
+
[
|
| 342 |
+
3.82499361038208,
|
| 343 |
+
3.2782554626464844e-07,
|
| 344 |
+
9.577098846435547
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
3.4075722694396973,
|
| 348 |
+
0.5611541271209717,
|
| 349 |
+
10.145074844360352
|
| 350 |
+
],
|
| 351 |
+
[
|
| 352 |
+
3.4075722694396973,
|
| 353 |
+
0.5611541271209717,
|
| 354 |
+
9.577098846435547
|
| 355 |
+
],
|
| 356 |
+
[
|
| 357 |
+
3.4075722694396973,
|
| 358 |
+
3.2782554626464844e-07,
|
| 359 |
+
10.145074844360352
|
| 360 |
+
],
|
| 361 |
+
[
|
| 362 |
+
3.4075722694396973,
|
| 363 |
+
3.2782554626464844e-07,
|
| 364 |
+
9.577098846435547
|
| 365 |
+
]
|
| 366 |
+
],
|
| 367 |
+
"center": {
|
| 368 |
+
"x": 3.6162829399108887,
|
| 369 |
+
"y": 0.2805772125720978,
|
| 370 |
+
"z": 9.86108684539795
|
| 371 |
+
},
|
| 372 |
+
"size": {
|
| 373 |
+
"x": 0.4174213409423828,
|
| 374 |
+
"y": 0.561153769493103,
|
| 375 |
+
"z": 0.5679759979248047
|
| 376 |
+
}
|
| 377 |
+
},
|
| 378 |
+
"objectOrientedBoundingBox": {
|
| 379 |
+
"cornerPoints": [
|
| 380 |
+
[
|
| 381 |
+
3.40757155418396,
|
| 382 |
+
-1.8998980522155762e-06,
|
| 383 |
+
10.145078659057617
|
| 384 |
+
],
|
| 385 |
+
[
|
| 386 |
+
3.40756893157959,
|
| 387 |
+
-2.0116567611694336e-06,
|
| 388 |
+
9.57709789276123
|
| 389 |
+
],
|
| 390 |
+
[
|
| 391 |
+
3.8249926567077637,
|
| 392 |
+
-2.2761523723602295e-06,
|
| 393 |
+
9.577095985412598
|
| 394 |
+
],
|
| 395 |
+
[
|
| 396 |
+
3.824995279312134,
|
| 397 |
+
-2.164393663406372e-06,
|
| 398 |
+
10.145075798034668
|
| 399 |
+
],
|
| 400 |
+
[
|
| 401 |
+
3.407571792602539,
|
| 402 |
+
0.5611568093299866,
|
| 403 |
+
10.1450777053833
|
| 404 |
+
],
|
| 405 |
+
[
|
| 406 |
+
3.407569169998169,
|
| 407 |
+
0.561156690120697,
|
| 408 |
+
9.57709789276123
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
3.824993133544922,
|
| 412 |
+
0.5611564517021179,
|
| 413 |
+
9.577095985412598
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
3.824995756149292,
|
| 417 |
+
0.5611565709114075,
|
| 418 |
+
10.145075798034668
|
| 419 |
+
]
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
{
|
| 425 |
+
"objectId": "Sink|5|1|0",
|
| 426 |
+
"object_info": {
|
| 427 |
+
"name": "Sink|5|1|0",
|
| 428 |
+
"position": {
|
| 429 |
+
"x": 3.535754919052124,
|
| 430 |
+
"y": 0.0,
|
| 431 |
+
"z": 11.106541633605957
|
| 432 |
+
},
|
| 433 |
+
"rotation": {
|
| 434 |
+
"x": 0.0,
|
| 435 |
+
"y": 270.0,
|
| 436 |
+
"z": 0.0
|
| 437 |
+
},
|
| 438 |
+
"visible": false,
|
| 439 |
+
"isInteractable": false,
|
| 440 |
+
"receptacle": true,
|
| 441 |
+
"toggleable": false,
|
| 442 |
+
"isToggled": false,
|
| 443 |
+
"breakable": false,
|
| 444 |
+
"isBroken": false,
|
| 445 |
+
"canFillWithLiquid": false,
|
| 446 |
+
"isFilledWithLiquid": false,
|
| 447 |
+
"fillLiquid": null,
|
| 448 |
+
"dirtyable": false,
|
| 449 |
+
"isDirty": false,
|
| 450 |
+
"canBeUsedUp": false,
|
| 451 |
+
"isUsedUp": false,
|
| 452 |
+
"cookable": false,
|
| 453 |
+
"isCooked": false,
|
| 454 |
+
"temperature": "RoomTemp",
|
| 455 |
+
"isHeatSource": false,
|
| 456 |
+
"isColdSource": false,
|
| 457 |
+
"sliceable": false,
|
| 458 |
+
"isSliced": false,
|
| 459 |
+
"openable": false,
|
| 460 |
+
"isOpen": false,
|
| 461 |
+
"openness": 0.0,
|
| 462 |
+
"pickupable": false,
|
| 463 |
+
"isPickedUp": false,
|
| 464 |
+
"moveable": false,
|
| 465 |
+
"mass": 0.0,
|
| 466 |
+
"salientMaterials": null,
|
| 467 |
+
"receptacleObjectIds": [
|
| 468 |
+
"Faucet|5|1|1"
|
| 469 |
+
],
|
| 470 |
+
"distance": 2.5654819011688232,
|
| 471 |
+
"objectType": "Sink",
|
| 472 |
+
"objectId": "Sink|5|1|0",
|
| 473 |
+
"assetId": "Sink_26",
|
| 474 |
+
"parentReceptacles": [
|
| 475 |
+
"Floor"
|
| 476 |
+
],
|
| 477 |
+
"controlledObjects": null,
|
| 478 |
+
"isMoving": false,
|
| 479 |
+
"axisAlignedBoundingBox": {
|
| 480 |
+
"cornerPoints": [
|
| 481 |
+
[
|
| 482 |
+
3.825000047683716,
|
| 483 |
+
0.9855988025665283,
|
| 484 |
+
11.52400016784668
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
3.825000047683716,
|
| 488 |
+
0.9855988025665283,
|
| 489 |
+
10.689083099365234
|
| 490 |
+
],
|
| 491 |
+
[
|
| 492 |
+
3.825000047683716,
|
| 493 |
+
0.0,
|
| 494 |
+
11.52400016784668
|
| 495 |
+
],
|
| 496 |
+
[
|
| 497 |
+
3.825000047683716,
|
| 498 |
+
0.0,
|
| 499 |
+
10.689083099365234
|
| 500 |
+
],
|
| 501 |
+
[
|
| 502 |
+
3.18265700340271,
|
| 503 |
+
0.9855988025665283,
|
| 504 |
+
11.52400016784668
|
| 505 |
+
],
|
| 506 |
+
[
|
| 507 |
+
3.18265700340271,
|
| 508 |
+
0.9855988025665283,
|
| 509 |
+
10.689083099365234
|
| 510 |
+
],
|
| 511 |
+
[
|
| 512 |
+
3.18265700340271,
|
| 513 |
+
0.0,
|
| 514 |
+
11.52400016784668
|
| 515 |
+
],
|
| 516 |
+
[
|
| 517 |
+
3.18265700340271,
|
| 518 |
+
0.0,
|
| 519 |
+
10.689083099365234
|
| 520 |
+
]
|
| 521 |
+
],
|
| 522 |
+
"center": {
|
| 523 |
+
"x": 3.503828525543213,
|
| 524 |
+
"y": 0.49279940128326416,
|
| 525 |
+
"z": 11.106541633605957
|
| 526 |
+
},
|
| 527 |
+
"size": {
|
| 528 |
+
"x": 0.6423430442810059,
|
| 529 |
+
"y": 0.9855988025665283,
|
| 530 |
+
"z": 0.8349170684814453
|
| 531 |
+
}
|
| 532 |
+
},
|
| 533 |
+
"objectOrientedBoundingBox": null
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
{
|
| 537 |
+
"objectId": "Sink|5|1|0___0",
|
| 538 |
+
"object_info": {
|
| 539 |
+
"name": "SinkBasin",
|
| 540 |
+
"position": {
|
| 541 |
+
"x": 3.457854986190796,
|
| 542 |
+
"y": 0.9014000296592712,
|
| 543 |
+
"z": 11.095341682434082
|
| 544 |
+
},
|
| 545 |
+
"rotation": {
|
| 546 |
+
"x": 1.4033420794510015e-14,
|
| 547 |
+
"y": 270.0,
|
| 548 |
+
"z": 0.0
|
| 549 |
+
},
|
| 550 |
+
"visible": false,
|
| 551 |
+
"isInteractable": false,
|
| 552 |
+
"receptacle": true,
|
| 553 |
+
"toggleable": false,
|
| 554 |
+
"isToggled": false,
|
| 555 |
+
"breakable": false,
|
| 556 |
+
"isBroken": false,
|
| 557 |
+
"canFillWithLiquid": false,
|
| 558 |
+
"isFilledWithLiquid": false,
|
| 559 |
+
"fillLiquid": null,
|
| 560 |
+
"dirtyable": false,
|
| 561 |
+
"isDirty": false,
|
| 562 |
+
"canBeUsedUp": false,
|
| 563 |
+
"isUsedUp": false,
|
| 564 |
+
"cookable": false,
|
| 565 |
+
"isCooked": false,
|
| 566 |
+
"temperature": "RoomTemp",
|
| 567 |
+
"isHeatSource": false,
|
| 568 |
+
"isColdSource": false,
|
| 569 |
+
"sliceable": false,
|
| 570 |
+
"isSliced": false,
|
| 571 |
+
"openable": false,
|
| 572 |
+
"isOpen": false,
|
| 573 |
+
"openness": 0.0,
|
| 574 |
+
"pickupable": false,
|
| 575 |
+
"isPickedUp": false,
|
| 576 |
+
"moveable": false,
|
| 577 |
+
"mass": 0.0,
|
| 578 |
+
"salientMaterials": null,
|
| 579 |
+
"receptacleObjectIds": [],
|
| 580 |
+
"distance": 2.3370673656463623,
|
| 581 |
+
"objectType": "SinkBasin",
|
| 582 |
+
"objectId": "Sink|5|1|0___0",
|
| 583 |
+
"assetId": "",
|
| 584 |
+
"parentReceptacles": null,
|
| 585 |
+
"controlledObjects": null,
|
| 586 |
+
"isMoving": false,
|
| 587 |
+
"axisAlignedBoundingBox": {
|
| 588 |
+
"cornerPoints": [
|
| 589 |
+
[
|
| 590 |
+
3.604801654815674,
|
| 591 |
+
1.0298691987991333,
|
| 592 |
+
11.469036102294922
|
| 593 |
+
],
|
| 594 |
+
[
|
| 595 |
+
3.604801654815674,
|
| 596 |
+
1.0298691987991333,
|
| 597 |
+
10.744049072265625
|
| 598 |
+
],
|
| 599 |
+
[
|
| 600 |
+
3.604801654815674,
|
| 601 |
+
0.8825722932815552,
|
| 602 |
+
11.469036102294922
|
| 603 |
+
],
|
| 604 |
+
[
|
| 605 |
+
3.604801654815674,
|
| 606 |
+
0.8825722932815552,
|
| 607 |
+
10.744049072265625
|
| 608 |
+
],
|
| 609 |
+
[
|
| 610 |
+
3.2320265769958496,
|
| 611 |
+
1.0298691987991333,
|
| 612 |
+
11.469036102294922
|
| 613 |
+
],
|
| 614 |
+
[
|
| 615 |
+
3.2320265769958496,
|
| 616 |
+
1.0298691987991333,
|
| 617 |
+
10.744049072265625
|
| 618 |
+
],
|
| 619 |
+
[
|
| 620 |
+
3.2320265769958496,
|
| 621 |
+
0.8825722932815552,
|
| 622 |
+
11.469036102294922
|
| 623 |
+
],
|
| 624 |
+
[
|
| 625 |
+
3.2320265769958496,
|
| 626 |
+
0.8825722932815552,
|
| 627 |
+
10.744049072265625
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"center": {
|
| 631 |
+
"x": 3.4184141159057617,
|
| 632 |
+
"y": 0.9562207460403442,
|
| 633 |
+
"z": 11.106542587280273
|
| 634 |
+
},
|
| 635 |
+
"size": {
|
| 636 |
+
"x": 0.3727750778198242,
|
| 637 |
+
"y": 0.14729690551757812,
|
| 638 |
+
"z": 0.7249870300292969
|
| 639 |
+
}
|
| 640 |
+
},
|
| 641 |
+
"objectOrientedBoundingBox": null
|
| 642 |
+
}
|
| 643 |
+
}
|
| 644 |
+
],
|
| 645 |
+
"Agent": {
|
| 646 |
+
"agent_position": {
|
| 647 |
+
"x": 1.399999976158142,
|
| 648 |
+
"y": 0.9009997844696045,
|
| 649 |
+
"z": 10.100000381469727
|
| 650 |
+
},
|
| 651 |
+
"agent_rotation": {
|
| 652 |
+
"x": -0.0,
|
| 653 |
+
"y": 90.0,
|
| 654 |
+
"z": 0.0
|
| 655 |
+
},
|
| 656 |
+
"agent_cameraHorizon": 60.00001525878906,
|
| 657 |
+
"agent_isStanding": true,
|
| 658 |
+
"agent_inHighFrictionArea": false
|
| 659 |
+
},
|
| 660 |
+
"camera_info": {
|
| 661 |
+
"cameraPosition": {
|
| 662 |
+
"x": 1.399999976158142,
|
| 663 |
+
"y": 1.5759997367858887,
|
| 664 |
+
"z": 10.100000381469727
|
| 665 |
+
},
|
| 666 |
+
"cameraOrthSize": -1.0,
|
| 667 |
+
"fov": 90.0
|
| 668 |
+
},
|
| 669 |
+
"common_object": [
|
| 670 |
+
"door|4|5",
|
| 671 |
+
"Plunger|5|3"
|
| 672 |
+
],
|
| 673 |
+
"different_object": [
|
| 674 |
+
"Sink|5|1|0",
|
| 675 |
+
"Sink|5|1|0___0",
|
| 676 |
+
"GarbageCan|5|2"
|
| 677 |
+
]
|
| 678 |
+
}
|
train/train1259/3/0_depth_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aef369b01dc960b3ce6d05bba255eddeb38e6502dd550e408316c6b178304eca
|
| 3 |
+
size 3145856
|
train/train1259/3/0_semantic_sensor_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ac24e04d20cef476fb20ef0831f6d28a5b062fe3b84550c7f38251235585ca1b
|
| 3 |
+
size 2359424
|
train/train1259/3/1.json
ADDED
|
@@ -0,0 +1,726 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object": [
|
| 3 |
+
{
|
| 4 |
+
"objectId": "ToiletPaper|surface|5|48",
|
| 5 |
+
"object_info": {
|
| 6 |
+
"name": "ToiletPaper|surface|5|48",
|
| 7 |
+
"position": {
|
| 8 |
+
"x": 0.22087982296943665,
|
| 9 |
+
"y": 1.0354818105697632,
|
| 10 |
+
"z": 11.313288688659668
|
| 11 |
+
},
|
| 12 |
+
"rotation": {
|
| 13 |
+
"x": 0.1303512006998062,
|
| 14 |
+
"y": 179.99574279785156,
|
| 15 |
+
"z": 0.15781132876873016
|
| 16 |
+
},
|
| 17 |
+
"visible": false,
|
| 18 |
+
"isInteractable": false,
|
| 19 |
+
"receptacle": false,
|
| 20 |
+
"toggleable": false,
|
| 21 |
+
"isToggled": false,
|
| 22 |
+
"breakable": false,
|
| 23 |
+
"isBroken": false,
|
| 24 |
+
"canFillWithLiquid": false,
|
| 25 |
+
"isFilledWithLiquid": false,
|
| 26 |
+
"fillLiquid": null,
|
| 27 |
+
"dirtyable": false,
|
| 28 |
+
"isDirty": false,
|
| 29 |
+
"canBeUsedUp": false,
|
| 30 |
+
"isUsedUp": false,
|
| 31 |
+
"cookable": false,
|
| 32 |
+
"isCooked": false,
|
| 33 |
+
"temperature": "RoomTemp",
|
| 34 |
+
"isHeatSource": false,
|
| 35 |
+
"isColdSource": false,
|
| 36 |
+
"sliceable": false,
|
| 37 |
+
"isSliced": false,
|
| 38 |
+
"openable": false,
|
| 39 |
+
"isOpen": false,
|
| 40 |
+
"openness": 0.0,
|
| 41 |
+
"pickupable": true,
|
| 42 |
+
"isPickedUp": false,
|
| 43 |
+
"moveable": false,
|
| 44 |
+
"mass": 0.20000000298023224,
|
| 45 |
+
"salientMaterials": [
|
| 46 |
+
"Paper"
|
| 47 |
+
],
|
| 48 |
+
"receptacleObjectIds": null,
|
| 49 |
+
"distance": 2.3757755756378174,
|
| 50 |
+
"objectType": "ToiletPaper",
|
| 51 |
+
"objectId": "ToiletPaper|surface|5|48",
|
| 52 |
+
"assetId": "Toilet_Paper",
|
| 53 |
+
"parentReceptacles": [
|
| 54 |
+
"Toilet|5|0"
|
| 55 |
+
],
|
| 56 |
+
"controlledObjects": null,
|
| 57 |
+
"isMoving": false,
|
| 58 |
+
"axisAlignedBoundingBox": {
|
| 59 |
+
"cornerPoints": [
|
| 60 |
+
[
|
| 61 |
+
0.27252668142318726,
|
| 62 |
+
1.1560850143432617,
|
| 63 |
+
11.365324020385742
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.27252668142318726,
|
| 67 |
+
1.1560850143432617,
|
| 68 |
+
11.26097297668457
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
0.27252668142318726,
|
| 72 |
+
1.0374767780303955,
|
| 73 |
+
11.365324020385742
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.27252668142318726,
|
| 77 |
+
1.0374767780303955,
|
| 78 |
+
11.26097297668457
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.16816958785057068,
|
| 82 |
+
1.1560850143432617,
|
| 83 |
+
11.365324020385742
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
0.16816958785057068,
|
| 87 |
+
1.1560850143432617,
|
| 88 |
+
11.26097297668457
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.16816958785057068,
|
| 92 |
+
1.0374767780303955,
|
| 93 |
+
11.365324020385742
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.16816958785057068,
|
| 97 |
+
1.0374767780303955,
|
| 98 |
+
11.26097297668457
|
| 99 |
+
]
|
| 100 |
+
],
|
| 101 |
+
"center": {
|
| 102 |
+
"x": 0.22034813463687897,
|
| 103 |
+
"y": 1.0967808961868286,
|
| 104 |
+
"z": 11.313148498535156
|
| 105 |
+
},
|
| 106 |
+
"size": {
|
| 107 |
+
"x": 0.10435709357261658,
|
| 108 |
+
"y": 0.11860823631286621,
|
| 109 |
+
"z": 0.10435104370117188
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"objectOrientedBoundingBox": {
|
| 113 |
+
"cornerPoints": [
|
| 114 |
+
[
|
| 115 |
+
0.16802997887134552,
|
| 116 |
+
1.0375020503997803,
|
| 117 |
+
11.261120796203613
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
0.27234840393066406,
|
| 121 |
+
1.037214756011963,
|
| 122 |
+
11.261129379272461
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.27234065532684326,
|
| 126 |
+
1.037451982498169,
|
| 127 |
+
11.365447998046875
|
| 128 |
+
],
|
| 129 |
+
[
|
| 130 |
+
0.1680222451686859,
|
| 131 |
+
1.0377393960952759,
|
| 132 |
+
11.365439414978027
|
| 133 |
+
],
|
| 134 |
+
[
|
| 135 |
+
0.1683564931154251,
|
| 136 |
+
1.1560392379760742,
|
| 137 |
+
11.26085090637207
|
| 138 |
+
],
|
| 139 |
+
[
|
| 140 |
+
0.27267491817474365,
|
| 141 |
+
1.1557519435882568,
|
| 142 |
+
11.260859489440918
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.27266716957092285,
|
| 146 |
+
1.1559892892837524,
|
| 147 |
+
11.365178108215332
|
| 148 |
+
],
|
| 149 |
+
[
|
| 150 |
+
0.1683487445116043,
|
| 151 |
+
1.1562765836715698,
|
| 152 |
+
11.365169525146484
|
| 153 |
+
]
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"objectId": "door|4|5",
|
| 160 |
+
"object_info": {
|
| 161 |
+
"name": "door|4|5",
|
| 162 |
+
"position": {
|
| 163 |
+
"x": 2.193453788757324,
|
| 164 |
+
"y": -0.0005974769592285156,
|
| 165 |
+
"z": 7.698999881744385
|
| 166 |
+
},
|
| 167 |
+
"rotation": {
|
| 168 |
+
"x": -0.0,
|
| 169 |
+
"y": 0.0,
|
| 170 |
+
"z": 0.0
|
| 171 |
+
},
|
| 172 |
+
"visible": false,
|
| 173 |
+
"isInteractable": false,
|
| 174 |
+
"receptacle": false,
|
| 175 |
+
"toggleable": false,
|
| 176 |
+
"isToggled": false,
|
| 177 |
+
"breakable": false,
|
| 178 |
+
"isBroken": false,
|
| 179 |
+
"canFillWithLiquid": false,
|
| 180 |
+
"isFilledWithLiquid": false,
|
| 181 |
+
"fillLiquid": null,
|
| 182 |
+
"dirtyable": false,
|
| 183 |
+
"isDirty": false,
|
| 184 |
+
"canBeUsedUp": false,
|
| 185 |
+
"isUsedUp": false,
|
| 186 |
+
"cookable": false,
|
| 187 |
+
"isCooked": false,
|
| 188 |
+
"temperature": "RoomTemp",
|
| 189 |
+
"isHeatSource": false,
|
| 190 |
+
"isColdSource": false,
|
| 191 |
+
"sliceable": false,
|
| 192 |
+
"isSliced": false,
|
| 193 |
+
"openable": true,
|
| 194 |
+
"isOpen": true,
|
| 195 |
+
"openness": 1.0,
|
| 196 |
+
"pickupable": false,
|
| 197 |
+
"isPickedUp": false,
|
| 198 |
+
"moveable": false,
|
| 199 |
+
"mass": 0.0,
|
| 200 |
+
"salientMaterials": null,
|
| 201 |
+
"receptacleObjectIds": null,
|
| 202 |
+
"distance": 2.062311887741089,
|
| 203 |
+
"objectType": "Doorway",
|
| 204 |
+
"objectId": "door|4|5",
|
| 205 |
+
"assetId": "Doorway_Double_9",
|
| 206 |
+
"parentReceptacles": [
|
| 207 |
+
"Floor"
|
| 208 |
+
],
|
| 209 |
+
"controlledObjects": null,
|
| 210 |
+
"isMoving": false,
|
| 211 |
+
"axisAlignedBoundingBox": {
|
| 212 |
+
"cornerPoints": [
|
| 213 |
+
[
|
| 214 |
+
2.269169330596924,
|
| 215 |
+
2.075340747833252,
|
| 216 |
+
7.768621444702148
|
| 217 |
+
],
|
| 218 |
+
[
|
| 219 |
+
2.269169330596924,
|
| 220 |
+
2.075340747833252,
|
| 221 |
+
6.784069061279297
|
| 222 |
+
],
|
| 223 |
+
[
|
| 224 |
+
2.269169330596924,
|
| 225 |
+
0.0,
|
| 226 |
+
7.768621444702148
|
| 227 |
+
],
|
| 228 |
+
[
|
| 229 |
+
2.269169330596924,
|
| 230 |
+
0.0,
|
| 231 |
+
6.784069061279297
|
| 232 |
+
],
|
| 233 |
+
[
|
| 234 |
+
0.21979665756225586,
|
| 235 |
+
2.075340747833252,
|
| 236 |
+
7.768621444702148
|
| 237 |
+
],
|
| 238 |
+
[
|
| 239 |
+
0.21979665756225586,
|
| 240 |
+
2.075340747833252,
|
| 241 |
+
6.784069061279297
|
| 242 |
+
],
|
| 243 |
+
[
|
| 244 |
+
0.21979665756225586,
|
| 245 |
+
0.0,
|
| 246 |
+
7.768621444702148
|
| 247 |
+
],
|
| 248 |
+
[
|
| 249 |
+
0.21979665756225586,
|
| 250 |
+
0.0,
|
| 251 |
+
6.784069061279297
|
| 252 |
+
]
|
| 253 |
+
],
|
| 254 |
+
"center": {
|
| 255 |
+
"x": 1.2444829940795898,
|
| 256 |
+
"y": 1.037670373916626,
|
| 257 |
+
"z": 7.276345252990723
|
| 258 |
+
},
|
| 259 |
+
"size": {
|
| 260 |
+
"x": 2.049372673034668,
|
| 261 |
+
"y": 2.075340747833252,
|
| 262 |
+
"z": 0.9845523834228516
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
"objectOrientedBoundingBox": null
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"objectId": "Plunger|5|3",
|
| 270 |
+
"object_info": {
|
| 271 |
+
"name": "Plunger|5|3",
|
| 272 |
+
"position": {
|
| 273 |
+
"x": 1.4791741371154785,
|
| 274 |
+
"y": -0.00046303868293762207,
|
| 275 |
+
"z": 11.449926376342773
|
| 276 |
+
},
|
| 277 |
+
"rotation": {
|
| 278 |
+
"x": 0.00023233394313137978,
|
| 279 |
+
"y": 179.99989318847656,
|
| 280 |
+
"z": 0.0008740525227040052
|
| 281 |
+
},
|
| 282 |
+
"visible": false,
|
| 283 |
+
"isInteractable": false,
|
| 284 |
+
"receptacle": false,
|
| 285 |
+
"toggleable": false,
|
| 286 |
+
"isToggled": false,
|
| 287 |
+
"breakable": false,
|
| 288 |
+
"isBroken": false,
|
| 289 |
+
"canFillWithLiquid": false,
|
| 290 |
+
"isFilledWithLiquid": false,
|
| 291 |
+
"fillLiquid": null,
|
| 292 |
+
"dirtyable": false,
|
| 293 |
+
"isDirty": false,
|
| 294 |
+
"canBeUsedUp": false,
|
| 295 |
+
"isUsedUp": false,
|
| 296 |
+
"cookable": false,
|
| 297 |
+
"isCooked": false,
|
| 298 |
+
"temperature": "RoomTemp",
|
| 299 |
+
"isHeatSource": false,
|
| 300 |
+
"isColdSource": false,
|
| 301 |
+
"sliceable": false,
|
| 302 |
+
"isSliced": false,
|
| 303 |
+
"openable": false,
|
| 304 |
+
"isOpen": false,
|
| 305 |
+
"openness": 0.0,
|
| 306 |
+
"pickupable": true,
|
| 307 |
+
"isPickedUp": false,
|
| 308 |
+
"moveable": false,
|
| 309 |
+
"mass": 1.0,
|
| 310 |
+
"salientMaterials": [
|
| 311 |
+
"Rubber",
|
| 312 |
+
"Wood"
|
| 313 |
+
],
|
| 314 |
+
"receptacleObjectIds": null,
|
| 315 |
+
"distance": 2.1652238368988037,
|
| 316 |
+
"objectType": "Plunger",
|
| 317 |
+
"objectId": "Plunger|5|3",
|
| 318 |
+
"assetId": "Plunger_2",
|
| 319 |
+
"parentReceptacles": [
|
| 320 |
+
"Floor"
|
| 321 |
+
],
|
| 322 |
+
"controlledObjects": null,
|
| 323 |
+
"isMoving": false,
|
| 324 |
+
"axisAlignedBoundingBox": {
|
| 325 |
+
"cornerPoints": [
|
| 326 |
+
[
|
| 327 |
+
1.5533244609832764,
|
| 328 |
+
0.5393394231796265,
|
| 329 |
+
11.52400016784668
|
| 330 |
+
],
|
| 331 |
+
[
|
| 332 |
+
1.5533244609832764,
|
| 333 |
+
0.5393394231796265,
|
| 334 |
+
11.375993728637695
|
| 335 |
+
],
|
| 336 |
+
[
|
| 337 |
+
1.5533244609832764,
|
| 338 |
+
-5.066394805908203e-07,
|
| 339 |
+
11.52400016784668
|
| 340 |
+
],
|
| 341 |
+
[
|
| 342 |
+
1.5533244609832764,
|
| 343 |
+
-5.066394805908203e-07,
|
| 344 |
+
11.375993728637695
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
1.4050254821777344,
|
| 348 |
+
0.5393394231796265,
|
| 349 |
+
11.52400016784668
|
| 350 |
+
],
|
| 351 |
+
[
|
| 352 |
+
1.4050254821777344,
|
| 353 |
+
0.5393394231796265,
|
| 354 |
+
11.375993728637695
|
| 355 |
+
],
|
| 356 |
+
[
|
| 357 |
+
1.4050254821777344,
|
| 358 |
+
-5.066394805908203e-07,
|
| 359 |
+
11.52400016784668
|
| 360 |
+
],
|
| 361 |
+
[
|
| 362 |
+
1.4050254821777344,
|
| 363 |
+
-5.066394805908203e-07,
|
| 364 |
+
11.375993728637695
|
| 365 |
+
]
|
| 366 |
+
],
|
| 367 |
+
"center": {
|
| 368 |
+
"x": 1.4791749715805054,
|
| 369 |
+
"y": 0.26966944336891174,
|
| 370 |
+
"z": 11.449996948242188
|
| 371 |
+
},
|
| 372 |
+
"size": {
|
| 373 |
+
"x": 0.148298978805542,
|
| 374 |
+
"y": 0.5393399000167847,
|
| 375 |
+
"z": 0.14800643920898438
|
| 376 |
+
}
|
| 377 |
+
},
|
| 378 |
+
"objectOrientedBoundingBox": {
|
| 379 |
+
"cornerPoints": [
|
| 380 |
+
[
|
| 381 |
+
1.4050257205963135,
|
| 382 |
+
1.755222911015153e-06,
|
| 383 |
+
11.375992774963379
|
| 384 |
+
],
|
| 385 |
+
[
|
| 386 |
+
1.5533227920532227,
|
| 387 |
+
-5.070760380476713e-07,
|
| 388 |
+
11.375993728637695
|
| 389 |
+
],
|
| 390 |
+
[
|
| 391 |
+
1.5533225536346436,
|
| 392 |
+
9.310315363109112e-08,
|
| 393 |
+
11.52400016784668
|
| 394 |
+
],
|
| 395 |
+
[
|
| 396 |
+
1.4050254821777344,
|
| 397 |
+
2.3554021026939154e-06,
|
| 398 |
+
11.523999214172363
|
| 399 |
+
],
|
| 400 |
+
[
|
| 401 |
+
1.4050339460372925,
|
| 402 |
+
0.5393400192260742,
|
| 403 |
+
11.375990867614746
|
| 404 |
+
],
|
| 405 |
+
[
|
| 406 |
+
1.5533310174942017,
|
| 407 |
+
0.5393377542495728,
|
| 408 |
+
11.375990867614746
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
1.5533307790756226,
|
| 412 |
+
0.5393383502960205,
|
| 413 |
+
11.52399730682373
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
1.4050337076187134,
|
| 417 |
+
0.539340615272522,
|
| 418 |
+
11.52399730682373
|
| 419 |
+
]
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
{
|
| 425 |
+
"objectId": "SoapBar|surface|5|47",
|
| 426 |
+
"object_info": {
|
| 427 |
+
"name": "SoapBar|surface|5|47",
|
| 428 |
+
"position": {
|
| 429 |
+
"x": 0.4175986051559448,
|
| 430 |
+
"y": 1.037503719329834,
|
| 431 |
+
"z": 11.405169486999512
|
| 432 |
+
},
|
| 433 |
+
"rotation": {
|
| 434 |
+
"x": 0.2979035973548889,
|
| 435 |
+
"y": 180.0006103515625,
|
| 436 |
+
"z": 0.0006516455323435366
|
| 437 |
+
},
|
| 438 |
+
"visible": false,
|
| 439 |
+
"isInteractable": false,
|
| 440 |
+
"receptacle": false,
|
| 441 |
+
"toggleable": false,
|
| 442 |
+
"isToggled": false,
|
| 443 |
+
"breakable": false,
|
| 444 |
+
"isBroken": false,
|
| 445 |
+
"canFillWithLiquid": false,
|
| 446 |
+
"isFilledWithLiquid": false,
|
| 447 |
+
"fillLiquid": null,
|
| 448 |
+
"dirtyable": false,
|
| 449 |
+
"isDirty": false,
|
| 450 |
+
"canBeUsedUp": false,
|
| 451 |
+
"isUsedUp": false,
|
| 452 |
+
"cookable": false,
|
| 453 |
+
"isCooked": false,
|
| 454 |
+
"temperature": "RoomTemp",
|
| 455 |
+
"isHeatSource": false,
|
| 456 |
+
"isColdSource": false,
|
| 457 |
+
"sliceable": false,
|
| 458 |
+
"isSliced": false,
|
| 459 |
+
"openable": false,
|
| 460 |
+
"isOpen": false,
|
| 461 |
+
"openness": 0.0,
|
| 462 |
+
"pickupable": true,
|
| 463 |
+
"isPickedUp": false,
|
| 464 |
+
"moveable": false,
|
| 465 |
+
"mass": 0.10999999940395355,
|
| 466 |
+
"salientMaterials": [
|
| 467 |
+
"Soap"
|
| 468 |
+
],
|
| 469 |
+
"receptacleObjectIds": null,
|
| 470 |
+
"distance": 2.328861951828003,
|
| 471 |
+
"objectType": "SoapBar",
|
| 472 |
+
"objectId": "SoapBar|surface|5|47",
|
| 473 |
+
"assetId": "Soap_Bar_1",
|
| 474 |
+
"parentReceptacles": [
|
| 475 |
+
"Toilet|5|0"
|
| 476 |
+
],
|
| 477 |
+
"controlledObjects": null,
|
| 478 |
+
"isMoving": false,
|
| 479 |
+
"axisAlignedBoundingBox": {
|
| 480 |
+
"cornerPoints": [
|
| 481 |
+
[
|
| 482 |
+
0.4448854923248291,
|
| 483 |
+
1.0621978044509888,
|
| 484 |
+
11.450896263122559
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
0.4448854923248291,
|
| 488 |
+
1.0621978044509888,
|
| 489 |
+
11.3593168258667
|
| 490 |
+
],
|
| 491 |
+
[
|
| 492 |
+
0.4448854923248291,
|
| 493 |
+
1.037084698677063,
|
| 494 |
+
11.450896263122559
|
| 495 |
+
],
|
| 496 |
+
[
|
| 497 |
+
0.4448854923248291,
|
| 498 |
+
1.037084698677063,
|
| 499 |
+
11.3593168258667
|
| 500 |
+
],
|
| 501 |
+
[
|
| 502 |
+
0.3903120160102844,
|
| 503 |
+
1.0621978044509888,
|
| 504 |
+
11.450896263122559
|
| 505 |
+
],
|
| 506 |
+
[
|
| 507 |
+
0.3903120160102844,
|
| 508 |
+
1.0621978044509888,
|
| 509 |
+
11.3593168258667
|
| 510 |
+
],
|
| 511 |
+
[
|
| 512 |
+
0.3903120160102844,
|
| 513 |
+
1.037084698677063,
|
| 514 |
+
11.450896263122559
|
| 515 |
+
],
|
| 516 |
+
[
|
| 517 |
+
0.3903120160102844,
|
| 518 |
+
1.037084698677063,
|
| 519 |
+
11.3593168258667
|
| 520 |
+
]
|
| 521 |
+
],
|
| 522 |
+
"center": {
|
| 523 |
+
"x": 0.41759875416755676,
|
| 524 |
+
"y": 1.0496412515640259,
|
| 525 |
+
"z": 11.405106544494629
|
| 526 |
+
},
|
| 527 |
+
"size": {
|
| 528 |
+
"x": 0.05457347631454468,
|
| 529 |
+
"y": 0.02511310577392578,
|
| 530 |
+
"z": 0.09157943725585938
|
| 531 |
+
}
|
| 532 |
+
},
|
| 533 |
+
"objectOrientedBoundingBox": {
|
| 534 |
+
"cornerPoints": [
|
| 535 |
+
[
|
| 536 |
+
0.3903120160102844,
|
| 537 |
+
1.0370851755142212,
|
| 538 |
+
11.359445571899414
|
| 539 |
+
],
|
| 540 |
+
[
|
| 541 |
+
0.44488421082496643,
|
| 542 |
+
1.0370845794677734,
|
| 543 |
+
11.359444618225098
|
| 544 |
+
],
|
| 545 |
+
[
|
| 546 |
+
0.4448851943016052,
|
| 547 |
+
1.0375601053237915,
|
| 548 |
+
11.450895309448242
|
| 549 |
+
],
|
| 550 |
+
[
|
| 551 |
+
0.3903129994869232,
|
| 552 |
+
1.0375607013702393,
|
| 553 |
+
11.450896263122559
|
| 554 |
+
],
|
| 555 |
+
[
|
| 556 |
+
0.3903122842311859,
|
| 557 |
+
1.0617221593856812,
|
| 558 |
+
11.359317779541016
|
| 559 |
+
],
|
| 560 |
+
[
|
| 561 |
+
0.4448844790458679,
|
| 562 |
+
1.0617215633392334,
|
| 563 |
+
11.3593168258667
|
| 564 |
+
],
|
| 565 |
+
[
|
| 566 |
+
0.4448854625225067,
|
| 567 |
+
1.0621970891952515,
|
| 568 |
+
11.450767517089844
|
| 569 |
+
],
|
| 570 |
+
[
|
| 571 |
+
0.3903132677078247,
|
| 572 |
+
1.0621976852416992,
|
| 573 |
+
11.450767517089844
|
| 574 |
+
]
|
| 575 |
+
]
|
| 576 |
+
}
|
| 577 |
+
}
|
| 578 |
+
},
|
| 579 |
+
{
|
| 580 |
+
"objectId": "Toilet|5|0",
|
| 581 |
+
"object_info": {
|
| 582 |
+
"name": "Toilet|5|0",
|
| 583 |
+
"position": {
|
| 584 |
+
"x": 0.28989943861961365,
|
| 585 |
+
"y": 0.0017688274383544922,
|
| 586 |
+
"z": 11.05154037475586
|
| 587 |
+
},
|
| 588 |
+
"rotation": {
|
| 589 |
+
"x": 0.0,
|
| 590 |
+
"y": 180.0,
|
| 591 |
+
"z": 0.0
|
| 592 |
+
},
|
| 593 |
+
"visible": false,
|
| 594 |
+
"isInteractable": false,
|
| 595 |
+
"receptacle": true,
|
| 596 |
+
"toggleable": false,
|
| 597 |
+
"isToggled": false,
|
| 598 |
+
"breakable": false,
|
| 599 |
+
"isBroken": false,
|
| 600 |
+
"canFillWithLiquid": false,
|
| 601 |
+
"isFilledWithLiquid": false,
|
| 602 |
+
"fillLiquid": null,
|
| 603 |
+
"dirtyable": false,
|
| 604 |
+
"isDirty": false,
|
| 605 |
+
"canBeUsedUp": false,
|
| 606 |
+
"isUsedUp": false,
|
| 607 |
+
"cookable": false,
|
| 608 |
+
"isCooked": false,
|
| 609 |
+
"temperature": "RoomTemp",
|
| 610 |
+
"isHeatSource": false,
|
| 611 |
+
"isColdSource": false,
|
| 612 |
+
"sliceable": false,
|
| 613 |
+
"isSliced": false,
|
| 614 |
+
"openable": true,
|
| 615 |
+
"isOpen": false,
|
| 616 |
+
"openness": 0.0,
|
| 617 |
+
"pickupable": false,
|
| 618 |
+
"isPickedUp": false,
|
| 619 |
+
"moveable": false,
|
| 620 |
+
"mass": 0.0,
|
| 621 |
+
"salientMaterials": null,
|
| 622 |
+
"receptacleObjectIds": [
|
| 623 |
+
"ToiletPaper|surface|5|48",
|
| 624 |
+
"SoapBar|surface|5|47"
|
| 625 |
+
],
|
| 626 |
+
"distance": 2.312528371810913,
|
| 627 |
+
"objectType": "Toilet",
|
| 628 |
+
"objectId": "Toilet|5|0",
|
| 629 |
+
"assetId": "Toilet_1",
|
| 630 |
+
"parentReceptacles": [
|
| 631 |
+
"Floor"
|
| 632 |
+
],
|
| 633 |
+
"controlledObjects": null,
|
| 634 |
+
"isMoving": false,
|
| 635 |
+
"axisAlignedBoundingBox": {
|
| 636 |
+
"cornerPoints": [
|
| 637 |
+
[
|
| 638 |
+
0.5544841289520264,
|
| 639 |
+
1.0379130840301514,
|
| 640 |
+
11.523999214172363
|
| 641 |
+
],
|
| 642 |
+
[
|
| 643 |
+
0.5544841289520264,
|
| 644 |
+
1.0379130840301514,
|
| 645 |
+
10.551131248474121
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
0.5544841289520264,
|
| 649 |
+
0.0,
|
| 650 |
+
11.523999214172363
|
| 651 |
+
],
|
| 652 |
+
[
|
| 653 |
+
0.5544841289520264,
|
| 654 |
+
0.0,
|
| 655 |
+
10.551131248474121
|
| 656 |
+
],
|
| 657 |
+
[
|
| 658 |
+
0.02499985694885254,
|
| 659 |
+
1.0379130840301514,
|
| 660 |
+
11.523999214172363
|
| 661 |
+
],
|
| 662 |
+
[
|
| 663 |
+
0.02499985694885254,
|
| 664 |
+
1.0379130840301514,
|
| 665 |
+
10.551131248474121
|
| 666 |
+
],
|
| 667 |
+
[
|
| 668 |
+
0.02499985694885254,
|
| 669 |
+
0.0,
|
| 670 |
+
11.523999214172363
|
| 671 |
+
],
|
| 672 |
+
[
|
| 673 |
+
0.02499985694885254,
|
| 674 |
+
0.0,
|
| 675 |
+
10.551131248474121
|
| 676 |
+
]
|
| 677 |
+
],
|
| 678 |
+
"center": {
|
| 679 |
+
"x": 0.28974199295043945,
|
| 680 |
+
"y": 0.5189565420150757,
|
| 681 |
+
"z": 11.037565231323242
|
| 682 |
+
},
|
| 683 |
+
"size": {
|
| 684 |
+
"x": 0.5294842720031738,
|
| 685 |
+
"y": 1.0379130840301514,
|
| 686 |
+
"z": 0.9728679656982422
|
| 687 |
+
}
|
| 688 |
+
},
|
| 689 |
+
"objectOrientedBoundingBox": null
|
| 690 |
+
}
|
| 691 |
+
}
|
| 692 |
+
],
|
| 693 |
+
"Agent": {
|
| 694 |
+
"agent_position": {
|
| 695 |
+
"x": 1.5,
|
| 696 |
+
"y": 0.9009997844696045,
|
| 697 |
+
"z": 10.100000381469727
|
| 698 |
+
},
|
| 699 |
+
"agent_rotation": {
|
| 700 |
+
"x": 0.0,
|
| 701 |
+
"y": 270.0,
|
| 702 |
+
"z": 0.0
|
| 703 |
+
},
|
| 704 |
+
"agent_cameraHorizon": 60.00001525878906,
|
| 705 |
+
"agent_isStanding": true,
|
| 706 |
+
"agent_inHighFrictionArea": false
|
| 707 |
+
},
|
| 708 |
+
"camera_info": {
|
| 709 |
+
"cameraPosition": {
|
| 710 |
+
"x": 1.5,
|
| 711 |
+
"y": 1.5759997367858887,
|
| 712 |
+
"z": 10.100000381469727
|
| 713 |
+
},
|
| 714 |
+
"cameraOrthSize": -1.0,
|
| 715 |
+
"fov": 90.0
|
| 716 |
+
},
|
| 717 |
+
"common_object": [
|
| 718 |
+
"door|4|5",
|
| 719 |
+
"Plunger|5|3"
|
| 720 |
+
],
|
| 721 |
+
"different_object": [
|
| 722 |
+
"SoapBar|surface|5|47",
|
| 723 |
+
"ToiletPaper|surface|5|48",
|
| 724 |
+
"Toilet|5|0"
|
| 725 |
+
]
|
| 726 |
+
}
|
train/train1259/3/1_depth_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8a84cc7b214098b57813397e52bb8b8addbe9251e4a430b9103054d66e2c50ea
|
| 3 |
+
size 3145856
|
train/train1259/3/1_semantic_sensor_npy.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e6cca69dc55d0ac255380fef24d9118f3e784a80f42107d399f01868dc7529d4
|
| 3 |
+
size 2359424
|
train/train1259/3/depth_0.png
ADDED
|
train/train1259/3/depth_1.png
ADDED
|
train/train1259/3/mask_questions.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"id": 11622, "folder_dir": "train1259/3", "pair_name": "1-0:Plunger|5|3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. Plunger\nC. Toilet\nD. SoapBar", "answer": "B", "object_name": "Plunger", "image_1": "train1259/3/rgb_1.png", "image_2": "train1259/3/rgb_0.png", "mask_image": "train1259/3/rgb_0_mask_Plunger|5|3.png", "options": ["Doorway", "Plunger", "Toilet", "SoapBar"]}
|